diff --git a/cot/chunk-0000/episode_0000700_ecot.json b/cot/chunk-0000/episode_0000700_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f9eb89953433fb8199c1acf3c60b7c8515916b8f --- /dev/null +++ b/cot/chunk-0000/episode_0000700_ecot.json @@ -0,0 +1,1240 @@ +{ + "task_name": "episode_0000700", + "episode_json": "json/chunk-0000/episode_0000700.json", + "video_path": "videos/chunk-0000/image_0/episode_0000700.mp4", + "instruction": "Open book.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000700.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013275146484375, + "std": 0.0004442200006451458, + "delta_total": 0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00044, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach book cover\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the closed book on the counter, positioning above the front cover without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge cover\", \"start\": 8, \"end\": 11, \"planning\": \"Lower and adjust position to make light contact with the book’s front cover, preparing to slide it open.\"},\n {\"id\": 3, \"name\": \"slide cover open\", \"start\": 12, \"end\": 19, \"planning\": \"Drag the front cover sideways across the table surface using continuous contact until the book is visibly opened.\"}\n ],\n \"global_plan\": \"Open the book by approaching its cover, making contact, and sliding the cover open via dragging motion — no grasping or lifting occurs as gripper remains fully open throughout.\",\n \"notes\": \"Gripper never closes (max delta=0.00066), so all actions are contact-based: approach, nudge, drag. No grasp/lift/place inferred. Motion aligns with sliding a book cover open on a flat surface.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach book cover", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the closed book on the counter, positioning above the front cover without grasping." + }, + { + "id": 2, + "name": "make contact and nudge cover", + "start": 8, + "end": 11, + "planning": "Lower and adjust position to make light contact with the book’s front cover, preparing to slide it open." + }, + { + "id": 3, + "name": "slide cover open", + "start": 12, + "end": 19, + "planning": "Drag the front cover sideways across the table surface using continuous contact until the book is visibly opened." + } + ], + "global_plan": "Open the book by approaching its cover, making contact, and sliding the cover open via dragging motion — no grasping or lifting occurs as gripper remains fully open throughout.", + "notes": "Gripper never closes (max delta=0.00066), so all actions are contact-based: approach, nudge, drag. No grasp/lift/place inferred. Motion aligns with sliding a book cover open on a flat surface." + } + }, + "episode_goal": "Open the book.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3830135464668274, + -0.13206559419631958, + 0.15906137228012085, + 3.074070930480957, + -0.027895547449588776, + -0.018965737894177437 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next likely action being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 29 cm, move down 9 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38209500908851624, + -0.12942597270011902, + 0.13939084112644196, + 3.087829351425171, + 0.023569056764245033, + -0.0202911589294672 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next likely action being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 29 cm, move down 7 cm, keep gripper open; then move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39172348380088806, + -0.09940646588802338, + 0.13588322699069977, + 3.0780420303344727, + 0.0015753662446513772, + -0.02681768499314785 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next likely action being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 26 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move right 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39159855246543884, + -0.041401058435440063, + 0.13777785003185272, + 3.046081304550171, + -0.030177123844623566, + -0.022996561601758003 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cabbage": [ + 690, + 232, + 828, + 392 + ], + "shoe": [ + 11, + 452, + 234, + 655 + ], + "toy carrot": [ + 630, + 231, + 700, + 366 + ], + "wooden countertop": [ + 123, + 84, + 977, + 911 + ], + "book": [ + 128, + 165, + 567, + 585 + ] + } + } + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next action likely being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 20 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move right 4 cm, move down 3 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37873104214668274, + 0.006079843267798424, + 0.13513633608818054, + 3.0305378437042236, + -0.051470573991537094, + -0.03882930055260658 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next action likely being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move right 4 cm, move down 3 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710167109966278, + 0.05538913607597351, + 0.12935642898082733, + 3.037116765975952, + -0.05134819075465202, + -0.06215691193938255 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next action likely being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move right 4 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36557623744010925, + 0.10284291952848434, + 0.12296269088983536, + 3.098355770111084, + -0.055465955287218094, + -0.05149523913860321 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next action likely being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, keep gripper open; then move right 4 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 7 cm, move up 8 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3614884316921234, + 0.13678355515003204, + 0.0946200042963028, + 3.1405134201049805, + -0.008789556100964546, + -0.03708676993846893 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "approach book cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next action likely being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper open; then move right 4 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move right 14 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575206995010376, + 0.1570860743522644, + 0.07143402099609375, + -3.11761474609375, + 0.028778309002518654, + -0.013971240259706974 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "make contact and nudge cover", + "subtask_reasoning": "The robot is positioned near the book on the countertop, with the gripper fully open and no contact made yet. The subtask of approaching the book cover is in progress, with the next action likely being to move closer to establish contact for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 19 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578602373600006, + 0.15865665674209595, + 0.05879785120487213, + -3.099567174911499, + 0.03649067133665085, + -0.020995918661355972 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "make contact and nudge cover", + "subtask_reasoning": "The robot has approached the book and is now in contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to nudge or slide the cover open using a dragging motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 22 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35731151700019836, + 0.15118443965911865, + 0.05017038807272911, + -3.099015951156616, + 0.03318792209029198, + -0.03542665019631386 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "make contact and nudge cover", + "subtask_reasoning": "The robot has approached the book and is now in contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to nudge or slide the cover open using a dragging motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper open; then move forward 1 cm, move right 22 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.357356458902359, + 0.13694463670253754, + 0.05097491666674614, + -3.1174352169036865, + 0.014850243926048279, + -0.04001616686582565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "make contact and nudge cover", + "subtask_reasoning": "The robot has approached the book and is now in contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to nudge or slide the cover open using a dragging motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move forward 1 cm, move right 22 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35412701964378357, + 0.1154693141579628, + 0.04602059721946716, + 3.1353721618652344, + 0.0008969461778178811, + -0.04787376895546913 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and is now in contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to nudge or slide the cover open using a dragging motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 22 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3512323498725891, + 0.10998067259788513, + 0.045268427580595016, + 3.122541666030884, + -0.023041855543851852, + -0.019708964973688126 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and is now in contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to nudge or slide the cover open using a dragging motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 22 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35370731353759766, + 0.10384979099035263, + 0.052123572677373886, + 3.097270965576172, + -0.048176854848861694, + 0.012737567536532879 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and is now in contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to nudge or slide the cover open using a dragging motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 21 cm, move up 9 cm, tilt right 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36044976115226746, + 0.0855351984500885, + 0.08632281422615051, + 2.968106508255005, + -0.06660906225442886, + 0.08278581500053406 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and made initial contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue sliding the cover open via a dragging motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 19 cm, move up 6 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646261692047119, + 0.0443241260945797, + 0.1304338574409485, + 2.7692363262176514, + -0.06699363887310028, + 0.1704532653093338 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and made initial contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue sliding the cover open via a dragging motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697916567325592, + -0.02859875187277794, + 0.14367258548736572, + 2.6618785858154297, + -0.03769770264625549, + 0.13715453445911407 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and made initial contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue sliding the cover open via a dragging motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642028272151947, + -0.07617715746164322, + 0.14503809809684753, + 2.618150472640991, + 0.0037329501938074827, + 0.10107582807540894 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy red pepper": [ + 812, + 291, + 897, + 413 + ], + "toy cabbage": [ + 690, + 233, + 828, + 393 + ], + "shoe": [ + 11, + 454, + 234, + 655 + ], + "wooden countertop": [ + 128, + 95, + 974, + 909 + ], + "toy carrot": [ + 629, + 232, + 701, + 367 + ], + "toy garlic": [ + 854, + 396, + 972, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and made initial contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue sliding the cover open via a dragging motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3635087013244629, + -0.10535582154989243, + 0.14686019718647003, + 2.6032001972198486, + 0.04100561514496803, + 0.09327667206525803 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book cover" + }, + { + "id": 2, + "subtask": "make contact and nudge cover" + }, + { + "id": 3, + "subtask": "slide cover open" + } + ], + "subtask_name": "slide cover open", + "subtask_reasoning": "The robot has approached the book and made initial contact with the cover. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue sliding the cover open via a dragging motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000701_ecot.json b/cot/chunk-0000/episode_0000701_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..71829658389b945e2f5cbd6a627ec37833becc32 --- /dev/null +++ b/cot/chunk-0000/episode_0000701_ecot.json @@ -0,0 +1,2839 @@ +{ + "task_name": "episode_0000701", + "episode_json": "json/chunk-0000/episode_0000701.json", + "video_path": "videos/chunk-0000/image_0/episode_0000701.mp4", + "instruction": "Move the blue spatula and place in between the tin and the doll.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000701.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6764124035835266, + "std": 0.2885153293609619, + "delta_total": -0.6296151876449585, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67641, std=0.28852, total_delta=-0.62962). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 12 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 11 + ], + [ + 3, + 12, + 43 + ], + [ + 4, + 44, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the blue spatula without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp spatula\", \"start\": 5, \"end\": 11, \"planning\": \"Close the gripper around the handle of the blue spatula to secure it.\"},\n {\"id\": 3, \"name\": \"transport spatula\", \"start\": 12, \"end\": 43, \"planning\": \"Lift and carry the grasped spatula across the table toward the target location between the tin and the doll.\"},\n {\"id\": 4, \"name\": \"release spatula\", \"start\": 44, \"end\": 44, \"planning\": \"Open the gripper slightly to place the spatula in position between the tin and the doll.\"}\n ],\n \"global_plan\": \"Approach the blue spatula, grasp it securely, transport it to the space between the tin can and the doll, and release it there.\",\n \"notes\": \"Gripper closure is confirmed in segments 2 and 3; segment 1 shows no closing (approach only), segment 4 is a single-frame release with minimal motion but consistent with placement after transport.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the blue spatula without closing the gripper." + }, + { + "id": 2, + "name": "grasp spatula", + "start": 5, + "end": 11, + "planning": "Close the gripper around the handle of the blue spatula to secure it." + }, + { + "id": 3, + "name": "transport spatula", + "start": 12, + "end": 43, + "planning": "Lift and carry the grasped spatula across the table toward the target location between the tin and the doll." + }, + { + "id": 4, + "name": "release spatula", + "start": 44, + "end": 44, + "planning": "Open the gripper slightly to place the spatula in position between the tin and the doll." + } + ], + "global_plan": "Approach the blue spatula, grasp it securely, transport it to the space between the tin can and the doll, and release it there.", + "notes": "Gripper closure is confirmed in segments 2 and 3; segment 1 shows no closing (approach only), segment 4 is a single-frame release with minimal motion but consistent with placement after transport." + } + }, + "episode_goal": "Move the blue spatula and place it in between the tin and the doll.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26327934861183167, + 0.023386845365166664, + 0.08443684130907059, + 3.076815366744995, + -0.33379167318344116, + -0.2621791958808899 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned above the table, with the blue spatula located between the arm and the tin can. No actions have been completed yet as the gripper remains open. The robot needs to move its end-effector closer to the blue spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.262225866317749, + 0.023707788437604904, + 0.07795204967260361, + 3.065617322921753, + -0.3104753792285919, + -0.24910682439804077 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned above the table, with the blue spatula located between the arm and the tin can. No actions have been completed yet as the gripper remains open. The robot needs to move its end-effector closer to the blue spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815954387187958, + 0.029113491997122765, + 0.0699995756149292, + 3.1045470237731934, + -0.27970728278160095, + -0.2185804843902588 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue spatula located between the tin can and the doll. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the spatula for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29725921154022217, + 0.03036826103925705, + 0.06471320986747742, + 3.115751028060913, + -0.22583790123462677, + -0.1649131327867508 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue spatula located between the tin can and the doll. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the spatula for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 3 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176172077655792, + 0.02514168992638588, + 0.05644407868385315, + 3.1301352977752686, + -0.20669317245483398, + -0.1320996880531311 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plush toy": [ + 338, + 583, + 539, + 774 + ], + "wooden table": [ + 4, + 223, + 996, + 995 + ], + "orange bowl": [ + 226, + 193, + 444, + 446 + ], + "snack": [ + 539, + 399, + 702, + 652 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue spatula located between the tin can and the doll. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the spatula for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3289177715778351, + 0.020555764436721802, + 0.04435572400689125, + -3.1168019771575928, + -0.18587146699428558, + -0.12256400287151337 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue spatula located between the tin can and the doll. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the spatula for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33152157068252563, + 0.022306367754936218, + 0.03226986899971962, + -3.0862603187561035, + -0.17742228507995605, + -0.08061836659908295 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue spatula located between the tin can and the doll. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the spatula for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33965057134628296, + 0.02498103678226471, + 0.01834009401500225, + -3.072453022003174, + -0.16714678704738617, + -0.032794225960969925 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue spatula located between the tin can and the doll. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the spatula for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.345478892326355, + 0.025617515668272972, + 0.009015177376568317, + -3.0774471759796143, + -0.15458276867866516, + -0.012947321869432926 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula, which lies on the table between the orange bowl and the tin can. The gripper is open and positioned above the spatula, ready to close. The next action is to close the gripper to grasp the spatula securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35470494627952576, + 0.02608892135322094, + 0.004786744713783264, + -3.1199851036071777, + -0.16527734696865082, + 0.036350686103105545 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula, which lies on the table between the orange bowl and the tin can. The gripper is open and positioned above the spatula, ready to close. The next action is to close the gripper to grasp the spatula securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 2 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575136065483093, + 0.023928465321660042, + -0.006190345622599125, + -3.134556531906128, + -0.14557485282421112, + 0.031021352857351303 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula, which lies on the table between the orange bowl and the tin can. The gripper is open and positioned above the spatula, ready to close. The next action is to close the gripper to grasp the spatula securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move right 1 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553203046321869, + 0.021049892529845238, + -0.009381418116390705, + -3.1360890865325928, + -0.13029006123542786, + 0.031173255294561386 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula, which lies on the table between the orange bowl and the tin can. The gripper is open and positioned above the spatula, ready to close. The next action is to close the gripper to grasp the spatula securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 11 cm, move right 2 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.355518102645874, + 0.021528631448745728, + -0.009598733857274055, + -3.1334128379821777, + -0.1333116590976715, + 0.03378235921263695 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 3 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35430774092674255, + 0.020427482202649117, + -0.010988544672727585, + -3.1230392456054688, + -0.13322807848453522, + 0.02840905264019966 + ], + "gripper_value": 0.325195848941803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 3 cm, move up 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541809320449829, + 0.01979505829513073, + -0.010471764020621777, + -3.1262965202331543, + -0.13624989986419678, + 0.023855265229940414 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 20 cm, move right 4 cm, move up 11 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524726331233978, + 0.020175419747829437, + -0.010123021900653839, + -3.123786211013794, + -0.13319846987724304, + 0.02648615650832653 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 22 cm, move right 3 cm, move up 10 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3534431755542755, + 0.02145415171980858, + 0.003792069386690855, + -3.111748456954956, + -0.15613974630832672, + 0.0229343194514513 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 23 cm, move right 3 cm, move up 7 cm, tilt left 10 degrees, tilt forward 30 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560914993286133, + 0.02403891086578369, + 0.030390210449695587, + -3.088991165161133, + -0.2042311728000641, + 0.024118496105074883 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 237, + 996, + 995 + ], + "plush toy": [ + 338, + 578, + 539, + 774 + ], + "orange bowl": [ + 226, + 193, + 439, + 445 + ], + "blue wall": [ + 1, + 1, + 308, + 576 + ], + "snack": [ + 559, + 392, + 706, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 23 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, tilt forward 30 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35214105248451233, + 0.02389879710972309, + 0.058006830513477325, + -3.0743696689605713, + -0.23949167132377625, + 0.031115522608160973 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 21 cm, move right 3 cm, move down 1 cm, tilt forward 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314594030380249, + 0.01789560727775097, + 0.07852721214294434, + -3.057229518890381, + -0.23463976383209229, + 0.02495199255645275 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 18 cm, move right 3 cm, move down 4 cm, tilt forward 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2921901047229767, + 0.006993870250880718, + 0.08780908584594727, + -3.0598459243774414, + -0.18342134356498718, + 0.046880800276994705 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 2 cm, move down 5 cm, tilt forward 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24953341484069824, + -0.002178144408389926, + 0.0933409109711647, + -3.0569655895233154, + -0.11991038173437119, + 0.06153568625450134 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 5 cm, tilt forward 40 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21485702693462372, + -0.010740277357399464, + 0.09362990409135818, + -3.0577962398529053, + -0.04152185842394829, + 0.08699561655521393 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 6 cm, tilt left 10 degrees, tilt forward 30 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.18256041407585144, + -0.013650186359882355, + 0.09454140812158585, + -3.0539073944091797, + 0.058090295642614365, + 0.12656351923942566 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.15422408282756805, + -0.015331332571804523, + 0.0972251147031784, + -3.007887840270996, + 0.1573607176542282, + 0.16448530554771423 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 258, + 996, + 995 + ], + "snack": [ + 537, + 640, + 715, + 893 + ], + "plush toy": [ + 351, + 627, + 506, + 774 + ], + "orange bowl": [ + 405, + 296, + 448, + 422 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.13304737210273743, + -0.014555650763213634, + 0.09192931652069092, + -2.9867146015167236, + 0.2571120262145996, + 0.18608883023262024 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.12341510504484177, + -0.010317136533558369, + 0.07369639724493027, + -2.9682159423828125, + 0.3455338180065155, + 0.18737225234508514 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.12736763060092926, + -0.00716761127114296, + 0.05613647401332855, + -2.998579502105713, + 0.38376137614250183, + 0.15131846070289612 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.13825149834156036, + -0.008325162343680859, + 0.044512469321489334, + -3.0441577434539795, + 0.40502047538757324, + 0.12580986320972443 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.15334175527095795, + -0.012513126246631145, + 0.04158131778240204, + -3.0406253337860107, + 0.44189518690109253, + 0.13676846027374268 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 278, + 262, + 433, + 431 + ], + "wooden table": [ + 4, + 263, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.16197572648525238, + -0.017315518110990524, + 0.04253390431404114, + -3.0232503414154053, + 0.4934975802898407, + 0.179719477891922 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.18047046661376953, + -0.01717255637049675, + 0.04166356101632118, + -3.0015292167663574, + 0.4832719564437866, + 0.20408712327480316 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.20305314660072327, + -0.01431307289749384, + 0.03858978673815727, + -2.9635515213012695, + 0.47224366664886475, + 0.22123251855373383 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2235436737537384, + -0.006246103439480066, + 0.04036394879221916, + -2.9271059036254883, + 0.4374394118785858, + 0.25002479553222656 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24459806084632874, + 0.007302889134734869, + 0.04012599214911461, + -2.8756446838378906, + 0.40615394711494446, + 0.302234023809433 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.27066439390182495, + 0.015072010457515717, + 0.03826121240854263, + -2.887429714202881, + 0.3690810203552246, + 0.33102652430534363 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.28456053137779236, + 0.01795114390552044, + 0.0360715314745903, + -2.8948493003845215, + 0.35418352484703064, + 0.33542340993881226 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823667824268341, + 0.017923718318343163, + 0.03374456986784935, + -2.8977267742156982, + 0.35959041118621826, + 0.3251408040523529 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26903462409973145, + 0.007140526082366705, + 0.03107624687254429, + -2.9209342002868652, + 0.36957430839538574, + 0.2489093542098999 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595577538013458, + -0.006659966893494129, + 0.038820113986730576, + -2.974533796310425, + 0.3190153241157532, + 0.14073815941810608 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.24408216774463654, + -0.01603265292942524, + 0.03729238733649254, + -3.023249864578247, + 0.3010140061378479, + 0.04194469004869461 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2376246452331543, + -0.017505891621112823, + 0.02850782498717308, + -3.0522525310516357, + 0.2942417562007904, + -0.013899116776883602 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 236, + 996, + 995 + ], + "orange bowl": [ + 226, + 194, + 449, + 443 + ], + "blue wall": [ + 1, + 1, + 306, + 578 + ], + "snack": [ + 535, + 773, + 726, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.24295416474342346, + -0.011121145449578762, + 0.010052595287561417, + -3.0797460079193115, + 0.2885277271270752, + -0.036210812628269196 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The spatula has been successfully grasped and is being transported between the orange bowl and the patterned tin. The next action is to continue moving the spatula to position it precisely between the tin and the doll." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2502293288707733, + -0.014232231304049492, + -0.007361691910773516, + -3.1297526359558105, + 0.2925659418106079, + -0.14475733041763306 + ], + "gripper_value": 0.32440370321273804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "transport spatula", + "subtask_reasoning": "The robot is currently holding the blue spatula and moving it across the table toward the target area. The tin can is visible in the foreground, indicating the robot is approaching the destination between the tin and the doll. The next action is to continue transporting the spatula to position it precisely between the two objects before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.25724509358406067, + -0.015759509056806564, + -0.014909342862665653, + 3.1072781085968018, + 0.28184449672698975, + -0.21647842228412628 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spatula and place it in between the tin and the doll." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "transport spatula" + }, + { + "id": 4, + "subtask": "release spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The blue spatula is currently held by the gripper above the table, positioned near the target area between the tin and the doll. The gripper has not yet opened to release the object, as indicated by the lack of closing evidence in the segment. The next action is to open the gripper to drop the spatula into the designated space." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 44, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000704_ecot.json b/cot/chunk-0000/episode_0000704_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c588aea05f4799120aac755e64cee60e2a70bb1f --- /dev/null +++ b/cot/chunk-0000/episode_0000704_ecot.json @@ -0,0 +1,1747 @@ +{ + "task_name": "episode_0000704", + "episode_json": "json/chunk-0000/episode_0000704.json", + "video_path": "videos/chunk-0000/image_0/episode_0000704.mp4", + "instruction": "Move the blue cloth and place it on the right side of the white basket.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000704.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.002003312110900879, + "std": 0.0004542451351881027, + "delta_total": 0.000666201114654541, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00200, std=0.00045, total_delta=0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 13 + ], + [ + 4, + 14, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the blue cloth on the table without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 4, \"end\": 8, \"planning\": \"Lower and adjust position to establish stable contact with the blue cloth surface.\"},\n {\"id\": 3, \"name\": \"reposition cloth laterally\", \"start\": 9, \"end\": 13, \"planning\": \"Slide the blue cloth horizontally toward the right side of the white basket while maintaining contact.\"},\n {\"id\": 4, \"name\": \"finalize cloth placement\", \"start\": 14, \"end\": 26, \"planning\": \"Complete lateral adjustment and release contact, leaving cloth positioned to the right of the basket.\"}\n ],\n \"global_plan\": \"Approach, contact, slide, and finalize placement of the blue cloth to the right of the white basket without grasping or lifting.\",\n \"notes\": \"Gripper remains open throughout; all motion is contact-based sliding/repositioning. No grasp, lift, or place actions inferred per segment-level gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the blue cloth on the table without grasping." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 4, + "end": 8, + "planning": "Lower and adjust position to establish stable contact with the blue cloth surface." + }, + { + "id": 3, + "name": "reposition cloth laterally", + "start": 9, + "end": 13, + "planning": "Slide the blue cloth horizontally toward the right side of the white basket while maintaining contact." + }, + { + "id": 4, + "name": "finalize cloth placement", + "start": 14, + "end": 26, + "planning": "Complete lateral adjustment and release contact, leaving cloth positioned to the right of the basket." + } + ], + "global_plan": "Approach, contact, slide, and finalize placement of the blue cloth to the right of the white basket without grasping or lifting.", + "notes": "Gripper remains open throughout; all motion is contact-based sliding/repositioning. No grasp, lift, or place actions inferred per segment-level gripper evidence." + } + }, + "episode_goal": "Move the blue cloth and place it on the right side of the white basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26755964756011963, + -0.16658158600330353, + 0.014815825037658215, + -3.086580276489258, + -0.3490837812423706, + -0.8042111992835999 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, which lies on the wooden surface to the right of the white basket. No movement or contact has occurred yet; the gripper remains open and stationary. The next action should be to lower the end-effector toward the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 5 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26473769545555115, + -0.16489604115486145, + 0.0058249072171747684, + -3.09413743019104, + -0.32087886333465576, + -0.8031734824180603 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth, which lies on the table to the right of the white basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26422134041786194, + -0.16792574524879456, + -0.008849307894706726, + -3.099695920944214, + -0.2946926951408386, + -0.8248694539070129 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth, which lies on the table to the right of the white basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26659947633743286, + -0.1744416207075119, + -0.018105491995811462, + -3.0601091384887695, + -0.25138622522354126, + -0.8731311559677124 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth, which lies on the table to the right of the white basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26686152815818787, + -0.1741647869348526, + -0.030056973919272423, + -3.0433809757232666, + -0.23249176144599915, + -0.8949779272079468 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth, which lies on the table to the right of the white basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650492489337921, + -0.17353035509586334, + -0.0408904068171978, + -3.049346923828125, + -0.21957291662693024, + -0.8996376991271973 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth, which lies on the table to the right of the white basket. No movement or contact has occurred yet in this subtask. The next action should be to lower the end-effector toward the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26627567410469055, + -0.17132537066936493, + -0.05097085237503052, + -3.064789295196533, + -0.23496007919311523, + -0.8877992630004883 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it on the wooden surface, positioned to the right of the white basket. No grasping has occurred as gripper remains open. The next action is to begin sliding the cloth toward the target placement area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26550278067588806, + -0.1693935990333557, + -0.06557357311248779, + -3.1094584465026855, + -0.27973243594169617, + -0.8665876984596252 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 78, + 449, + 425, + 746 + ], + "purple cloth": [ + 451, + 234, + 658, + 456 + ], + "blue cloth": [ + 604, + 786, + 931, + 996 + ], + "washing machine": [ + 11, + 7, + 991, + 781 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it on the wooden surface, positioned to the right of the white basket. No grasping has occurred as gripper remains open. The next action is to begin sliding the cloth toward the target placement area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674912214279175, + -0.17052504420280457, + -0.07380907237529755, + -3.132944107055664, + -0.3336097300052643, + -0.8489977121353149 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it on the wooden surface, positioned to the right of the white basket. No grasping has occurred as gripper remains open. The next action is to begin sliding the cloth toward the target placement area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26995521783828735, + -0.17155183851718903, + -0.07560127973556519, + -3.1355197429656982, + -0.35101038217544556, + -0.8269227743148804 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth laterally", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it on the wooden surface, positioned to the right of the white basket. No grasping has occurred as gripper remains open. The next action is to begin sliding the cloth toward the target placement area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664194703102112, + -0.16622626781463623, + -0.07767388969659805, + -3.1267571449279785, + -0.326577752828598, + -0.8179226517677307 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth laterally", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it on the wooden surface, positioned to the right of the white basket. No grasping has occurred as gripper remains open. The next action is to begin sliding the cloth toward the target placement area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25972577929496765, + -0.15097852051258087, + -0.0771602913737297, + -3.1070075035095215, + -0.2908596992492676, + -0.7774403691291809 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth laterally", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25749173760414124, + -0.1354844719171524, + -0.07475338131189346, + -3.095473527908325, + -0.2638205289840698, + -0.7393947243690491 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 78, + 448, + 424, + 745 + ], + "purple cloth": [ + 466, + 247, + 721, + 438 + ], + "wooden floor": [ + 19, + 457, + 932, + 997 + ], + "blue cloth": [ + 546, + 789, + 858, + 997 + ], + "washing machine": [ + 10, + 5, + 992, + 733 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth laterally", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25220033526420593, + -0.11500076204538345, + -0.07536746561527252, + -3.089679002761841, + -0.24282491207122803, + -0.6866202354431152 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth laterally", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 1 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25232231616973877, + -0.09464765340089798, + -0.07528601586818695, + -3.0777230262756348, + -0.23896154761314392, + -0.640489399433136 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25269755721092224, + -0.07698933780193329, + -0.07526405155658722, + -3.067594051361084, + -0.22787147760391235, + -0.6016387343406677 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25261712074279785, + -0.06255519390106201, + -0.07606538385152817, + -3.065753936767578, + -0.2176365852355957, + -0.5644545555114746 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25283023715019226, + -0.04697564244270325, + -0.07565898448228836, + -3.0638694763183594, + -0.2119840830564499, + -0.5262969136238098 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.252932608127594, + -0.03357489034533501, + -0.07592620700597763, + -3.0571956634521484, + -0.20794300734996796, + -0.5020433068275452 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504952549934387, + -0.01982942968606949, + -0.07511916756629944, + -3.057551145553589, + -0.2046671062707901, + -0.45756909251213074 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 78, + 448, + 410, + 745 + ], + "blue cloth": [ + 344, + 719, + 625, + 995 + ], + "purple cloth": [ + 464, + 224, + 719, + 457 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The robot is in contact with the blue cloth on the table, positioned near the white basket. The gripper remains open with no closing evidence, indicating a sliding or pushing motion rather than grasping. The next action is to continue laterally repositioning the cloth to the right of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24985045194625854, + -0.012895017862319946, + -0.07538941502571106, + -3.058708906173706, + -0.20001927018165588, + -0.4438396692276001 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the white basket, with the end-effector maintaining contact to guide its final placement. No grasping has occurred, as confirmed by stable gripper values. The next action is to gently slide the cloth fully to the right side of the basket and release contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2537274658679962, + -0.0070483931340277195, + -0.0697479099035263, + -3.0533854961395264, + -0.22136056423187256, + -0.4293776750564575 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the white basket, with the end-effector maintaining contact to guide its final placement. No grasping has occurred, as confirmed by stable gripper values. The next action is to gently slide the cloth fully to the right side of the basket and release contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2540978491306305, + -0.007549437694251537, + -0.0677439272403717, + -3.054494857788086, + -0.22547847032546997, + -0.4314769506454468 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the white basket, with the end-effector maintaining contact to guide its final placement. No grasping has occurred, as confirmed by stable gripper values. The next action is to gently slide the cloth fully to the right side of the basket and release contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597874701023102, + -0.010615350678563118, + -0.05379465967416763, + -3.034616470336914, + -0.2712637782096863, + -0.45543915033340454 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the white basket, with the end-effector maintaining contact to guide its final placement. No grasping has occurred, as confirmed by stable gripper values. The next action is to gently slide the cloth fully to the right side of the basket and release contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25970807671546936, + -0.021674869582057, + -0.037638891488313675, + -3.030439615249634, + -0.3114766478538513, + -0.4717634916305542 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the white basket, with the end-effector maintaining contact to guide its final placement. No grasping has occurred, as confirmed by stable gripper values. The next action is to gently slide the cloth fully to the right side of the basket and release contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590755224227905, + -0.03039810247719288, + -0.020778164267539978, + -3.044668674468994, + -0.3484863340854645, + -0.4736377000808716 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the white basket, with the end-effector maintaining contact to guide its final placement. No grasping has occurred, as confirmed by stable gripper values. The next action is to gently slide the cloth fully to the right side of the basket and release contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2564341127872467, + -0.037992753088474274, + -0.0006674570613540709, + -3.0508832931518555, + -0.3794744312763214, + -0.49413198232650757 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth and place it on the right side of the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth laterally" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the white basket, with the end-effector maintaining contact to guide its final placement. No grasping has occurred, as confirmed by stable gripper values. The next action is to gently slide the cloth fully to the right side of the basket and release contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000705_ecot.json b/cot/chunk-0000/episode_0000705_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fe4682381b89cca764647b8f3e177642c19487da --- /dev/null +++ b/cot/chunk-0000/episode_0000705_ecot.json @@ -0,0 +1,2402 @@ +{ + "task_name": "episode_0000705", + "episode_json": "json/chunk-0000/episode_0000705.json", + "video_path": "videos/chunk-0000/image_0/episode_0000705.mp4", + "instruction": "Moves the block to the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000705.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.6925844550132751, + "std": 0.3167479634284973, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.69258, std=0.31675, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 217, + 229, + 229, + 229, + 229, + 229, + 229 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 16 + ], + [ + 4, + 17, + 28 + ], + [ + 5, + 29, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach block\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper toward the target block on the table without closing.\"},\n {\"id\": 2, \"name\": \"align above block\", \"start\": 7, \"end\": 9, \"planning\": \"Adjust position and orientation to align the gripper directly above the block.\"},\n {\"id\": 3, \"name\": \"descend to contact\", \"start\": 10, \"end\": 16, \"planning\": \"Lower the gripper vertically to make contact with the block surface.\"},\n {\"id\": 4, \"name\": \"grasp and lift block\", \"start\": 17, \"end\": 28, \"planning\": \"Close the gripper to secure the block and lift it slightly off the table.\"},\n {\"id\": 5, \"name\": \"transport and release block\", \"start\": 29, \"end\": 34, \"planning\": \"Move the held block to the left side of the table and open the gripper to release it.\"}\n ],\n \"global_plan\": \"Approach the block, align above it, descend to contact, grasp and lift, then transport and release on the left side of the table.\",\n \"notes\": \"Gripper evidence confirms no closing in segments 1-3 (frames 0-16), so those phases use contact-based descriptions. Segments 4-5 show meaningful gripper closure and opening, supporting grasp and release actions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach block", + "start": 0, + "end": 6, + "planning": "Move the gripper toward the target block on the table without closing." + }, + { + "id": 2, + "name": "align above block", + "start": 7, + "end": 9, + "planning": "Adjust position and orientation to align the gripper directly above the block." + }, + { + "id": 3, + "name": "descend to contact", + "start": 10, + "end": 16, + "planning": "Lower the gripper vertically to make contact with the block surface." + }, + { + "id": 4, + "name": "grasp and lift block", + "start": 17, + "end": 28, + "planning": "Close the gripper to secure the block and lift it slightly off the table." + }, + { + "id": 5, + "name": "transport and release block", + "start": 29, + "end": 34, + "planning": "Move the held block to the left side of the table and open the gripper to release it." + } + ], + "global_plan": "Approach the block, align above it, descend to contact, grasp and lift, then transport and release on the left side of the table.", + "notes": "Gripper evidence confirms no closing in segments 1-3 (frames 0-16), so those phases use contact-based descriptions. Segments 4-5 show meaningful gripper closure and opening, supporting grasp and release actions." + } + }, + "episode_goal": "Move the block to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29422512650489807, + 0.0719037801027298, + 0.07362491637468338, + -3.0187041759490967, + 0.021599451079964638, + -0.10685650259256363 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet. The next action is to continue moving the end-effector closer to the target block to prepare for alignment and descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931573987007141, + 0.07163598388433456, + 0.06454730778932571, + -3.023854970932007, + 0.048285964876413345, + -0.10591509193181992 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet. The next action is to continue moving the end-effector closer to the target block to prepare for alignment and descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3063320517539978, + 0.08168429136276245, + 0.06648393720388412, + -2.961409568786621, + 0.008470812812447548, + -0.1142096221446991 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet. The next action is to continue moving the end-effector closer to the target block to prepare for alignment and descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3279263973236084, + 0.09237663447856903, + 0.06509498506784439, + -2.9079668521881104, + -0.0141937006264925, + -0.12593232095241547 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 304, + 71, + 682, + 474 + ], + "wooden table": [ + 6, + 392, + 916, + 995 + ], + "toy stove": [ + 731, + 439, + 995, + 994 + ], + "soup": [ + 642, + 284, + 772, + 522 + ], + "corn": [ + 760, + 378, + 903, + 574 + ] + } + } + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet, consistent with the 'approach block' subtask. The next action is to continue moving the end-effector closer to the target block for alignment prior to descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, tilt right 20 degrees, keep gripper open; then move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.341208279132843, + 0.09884969890117645, + 0.0736059918999672, + -2.935122013092041, + -0.062303051352500916, + -0.09696260094642639 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet, consistent with the 'approach block' subtask. The next action is to continue moving the end-effector closer to the target block for alignment prior to descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, tilt right 20 degrees, keep gripper open; then move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34621551632881165, + 0.09902674704790115, + 0.07602960616350174, + -3.0084116458892822, + -0.0702020451426506, + -0.06570076942443848 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet, consistent with the 'approach block' subtask. The next action is to continue moving the end-effector closer to the target block for alignment prior to descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, tilt right 10 degrees, keep gripper open; then move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34141504764556885, + 0.08955739438533783, + 0.0745590329170227, + -3.1298699378967285, + -0.06253363192081451, + -0.0737914890050888 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "approach block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet, consistent with the 'approach block' subtask. The next action is to continue moving the end-effector closer to the target block for alignment prior to descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34475043416023254, + 0.07891451567411423, + 0.07818727195262909, + 3.0883309841156006, + -0.08567224442958832, + -0.15209631621837616 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "align above block", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the cluster of blocks. No contact or grasping has occurred yet, consistent with the 'approach block' subtask. The next action is to continue moving the end-effector closer to the target block for alignment prior to descent." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34135740995407104, + 0.062078457325696945, + 0.07316148281097412, + 3.1037580966949463, + -0.050308581441640854, + -0.25225725769996643 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "align above block", + "subtask_reasoning": "The robot's end-effector is positioned directly above a wooden block on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is currently aligning its position for the next step. The immediate next action is to descend vertically to make contact with the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34346669912338257, + 0.04660479351878166, + 0.06130222976207733, + 3.126437187194824, + -0.015704656019806862, + -0.2945615351200104 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 6, + 362, + 917, + 995 + ], + "toy microwave": [ + 302, + 80, + 681, + 474 + ], + "soup": [ + 641, + 284, + 773, + 522 + ], + "toy stove": [ + 731, + 439, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "align above block", + "subtask_reasoning": "The robot's end-effector is positioned directly above a wooden block on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is currently aligning its position for the next step. The immediate next action is to descend vertically to make contact with the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415842056274414, + 0.028768105432391167, + 0.054830797016620636, + -3.1141154766082764, + 0.018164830282330513, + -0.3363736569881439 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot's end-effector is positioned directly above a wooden block on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is currently aligning its position for the next step. The immediate next action is to descend vertically to make contact with the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3401242792606354, + 0.026498835533857346, + 0.03763633593916893, + -3.106597423553467, + 0.0631837248802185, + -0.3097226619720459 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot's end-effector is positioned directly above a wooden block on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is currently aligning its position for the next step. The immediate next action is to descend vertically to make contact with the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33812618255615234, + 0.034148309379816055, + 0.020080411806702614, + -3.0675833225250244, + 0.13024072349071503, + -0.2662047743797302 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot's end-effector is positioned directly above a wooden block on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is currently aligning its position for the next step. The immediate next action is to descend vertically to make contact with the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move left 6 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3378966450691223, + 0.044183213263750076, + 0.00905541516840458, + -3.068610668182373, + 0.16322112083435059, + -0.22688235342502594 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 8 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3375323414802551, + 0.0617750883102417, + 0.009889980778098106, + -3.071331262588501, + 0.16847294569015503, + -0.17008307576179504 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3378058671951294, + 0.06698513776063919, + 0.006797406822443008, + -3.08903169631958, + 0.17960557341575623, + -0.14499373733997345 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 3 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391228914260864, + 0.06989095360040665, + 0.0058530825190246105, + -3.106393814086914, + 0.16053742170333862, + -0.14280830323696136 + ], + "gripper_value": 0.6711689233779907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "descend to contact", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 9 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33611026406288147, + 0.07413438707590103, + 0.00697085028514266, + -3.133030414581299, + 0.14359022676944733, + -0.1157129630446434 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32918551564216614, + 0.07294881343841553, + 0.010670830495655537, + -3.139507293701172, + 0.1449975222349167, + -0.11464710533618927 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32753369212150574, + 0.07940495014190674, + 0.033928170800209045, + -3.12695574760437, + 0.08316083252429962, + -0.0907503217458725 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245638906955719, + 0.09065097570419312, + 0.05814804509282112, + -3.1144652366638184, + 0.017716059461236, + -0.04103187099099159 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy microwave": [ + 390, + 69, + 681, + 474 + ], + "wooden table": [ + 5, + 380, + 917, + 995 + ], + "soup": [ + 642, + 284, + 772, + 522 + ], + "toy stove": [ + 730, + 440, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32974332571029663, + 0.10819129645824432, + 0.06820642948150635, + -3.1160223484039307, + -0.017792124301195145, + 0.003921587020158768 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot has approached and aligned above the block, and is now descending toward it. The gripper remains open and no contact has yet been made. The next action is to continue descending until physical contact with the block is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3371008336544037, + 0.13140013813972473, + 0.056580256670713425, + -3.104360818862915, + 0.025412606075406075, + 0.055138181895017624 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 4 cm, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3498494327068329, + 0.15117530524730682, + 0.03802574798464775, + -3.115426540374756, + 0.06515148282051086, + 0.09635379165410995 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.35934942960739136, + 0.16116058826446533, + 0.024850301444530487, + -3.131099224090576, + 0.09713435918092728, + 0.12013541907072067 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move back 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36425068974494934, + 0.16473454236984253, + 0.018440809100866318, + -3.141239881515503, + 0.10850318521261215, + 0.13065478205680847 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move back 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3651972711086273, + 0.1644892543554306, + 0.01892959699034691, + -3.1395554542541504, + 0.10997778922319412, + 0.14778198301792145 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move back 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.36599424481391907, + 0.16482847929000854, + 0.019469644874334335, + -3.1383299827575684, + 0.10405009984970093, + 0.14472763240337372 + ], + "gripper_value": 0.3095528483390808 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3634030818939209, + 0.16299432516098022, + 0.014400233514606953, + -3.1292569637298584, + 0.11138812452554703, + 0.13218224048614502 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "grasp and lift block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.364638090133667, + 0.15573745965957642, + 0.013176788575947285, + -3.1126418113708496, + 0.10229726135730743, + 0.12186015397310257 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "transport and release block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36491042375564575, + 0.14994443953037262, + 0.021089622750878334, + -3.090834140777588, + 0.08031290024518967, + 0.10728639364242554 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "transport and release block", + "subtask_reasoning": "The robot end-effector is positioned directly above the target block on the table, with the gripper open and ready. The approach and alignment phases are complete, and the system is now prepared to descend and make contact. The next action is to lower the gripper to grasp the block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3636153042316437, + 0.14641451835632324, + 0.0318463072180748, + -3.0666165351867676, + 0.05327785387635231, + 0.10533670336008072 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "transport and release block", + "subtask_reasoning": "The robot is currently positioned above the wooden block on the right side of the table, having completed the approach and alignment phases. The gripper is open and ready to descend, as indicated by the high gripper value and lack of contact in the current frame. The next immediate action is to lower the end-effector to make contact with the block in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589842915534973, + 0.14359638094902039, + 0.04544757679104805, + -3.042656898498535, + 0.022100189700722694, + 0.09614653885364532 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "transport and release block", + "subtask_reasoning": "The robot is currently positioned above the wooden block on the right side of the table, having completed the approach and alignment phases. The gripper is open and ready to descend, as indicated by the high gripper value and lack of contact in the current frame. The next immediate action is to lower the end-effector to make contact with the block in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.35590434074401855, + 0.13670264184474945, + 0.05551210045814514, + -3.025050640106201, + 0.0076028876937925816, + 0.06919363141059875 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "transport and release block", + "subtask_reasoning": "The robot is currently positioned above the wooden block on the right side of the table, having completed the approach and alignment phases. The gripper is open and ready to descend, as indicated by the high gripper value and lack of contact in the current frame. The next immediate action is to lower the end-effector to make contact with the block in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.34916478395462036, + 0.12797041237354279, + 0.06949476152658463, + -3.0218491554260254, + 0.0029305831994861364, + 0.006361309438943863 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 6, + 390, + 918, + 995 + ], + "toy stove": [ + 731, + 439, + 995, + 994 + ], + "toy microwave": [ + 378, + 69, + 681, + 474 + ], + "soup": [ + 641, + 284, + 773, + 522 + ], + "corn": [ + 760, + 378, + 902, + 574 + ] + } + } + }, + "Understanding": { + "goal": "Move the block to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach block" + }, + { + "id": 2, + "subtask": "align above block" + }, + { + "id": 3, + "subtask": "descend to contact" + }, + { + "id": 4, + "subtask": "grasp and lift block" + }, + { + "id": 5, + "subtask": "transport and release block" + } + ], + "subtask_name": "transport and release block", + "subtask_reasoning": "The robot is currently positioned above the wooden block on the right side of the table, having completed the approach and alignment phases. The gripper is open and ready to descend, as indicated by the high gripper value and lack of contact in the current frame. The next immediate action is to lower the end-effector to make contact with the block in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000707_ecot.json b/cot/chunk-0000/episode_0000707_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bdb51ba23b6430af9ffb20962419292c81cf89e0 --- /dev/null +++ b/cot/chunk-0000/episode_0000707_ecot.json @@ -0,0 +1,1180 @@ +{ + "task_name": "episode_0000707", + "episode_json": "json/chunk-0000/episode_0000707.json", + "video_path": "videos/chunk-0000/image_0/episode_0000707.mp4", + "instruction": "Put detergent from sink into drying rack.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000707.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.4285629987716675, + "std": 0.2080770879983902, + "delta_total": -0.4275655746459961, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42856, std=0.20808, total_delta=-0.42757). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ], + [ + 3, + 15, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach detergent bottle\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector down toward the detergent bottle in the sink without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp detergent bottle\", \"start\": 6, \"end\": 14, \"planning\": \"Close the gripper around the detergent bottle and lift it from the sink basin.\"},\n {\"id\": 3, \"name\": \"place bottle in drying rack\", \"start\": 15, \"end\": 18, \"planning\": \"Transport the held detergent bottle to the drying rack and release it into the rack.\"}\n ],\n \"global_plan\": \"Approach the detergent bottle in the sink, grasp and lift it, then move it to the drying rack and release it.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing and lifting motion consistent with grasping. Segment 3 shows transport and release with constant gripper state, indicating placement without re-grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach detergent bottle", + "start": 0, + "end": 5, + "planning": "Move the end-effector down toward the detergent bottle in the sink without closing the gripper." + }, + { + "id": 2, + "name": "grasp detergent bottle", + "start": 6, + "end": 14, + "planning": "Close the gripper around the detergent bottle and lift it from the sink basin." + }, + { + "id": 3, + "name": "place bottle in drying rack", + "start": 15, + "end": 18, + "planning": "Transport the held detergent bottle to the drying rack and release it into the rack." + } + ], + "global_plan": "Approach the detergent bottle in the sink, grasp and lift it, then move it to the drying rack and release it.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing and lifting motion consistent with grasping. Segment 3 shows transport and release with constant gripper state, indicating placement without re-grasping." + } + }, + "episode_goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981628179550171, + -0.08766639977693558, + 0.1914397031068802, + -3.1012210845947266, + -0.1376188099384308, + -0.08947683870792389 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move down 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29475799202919006, + -0.09041380137205124, + 0.17567673325538635, + -3.0993690490722656, + -0.12615975737571716, + -0.25590041279792786 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868620753288269, + -0.09112811833620071, + 0.17792479693889618, + -3.0833518505096436, + -0.19339020550251007, + -0.4654143154621124 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2760929465293884, + -0.09456265717744827, + 0.17694725096225739, + -3.0932700634002686, + -0.23321516811847687, + -0.6421046853065491 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green scrubber": [ + 1, + 224, + 148, + 479 + ], + "yellow dish rack": [ + 82, + 48, + 531, + 434 + ], + "red plate": [ + 901, + 132, + 996, + 261 + ], + "yellow knife": [ + 337, + 439, + 553, + 699 + ], + "toy sink": [ + 10, + 45, + 990, + 987 + ], + "red bottle": [ + 636, + 109, + 756, + 252 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756216824054718, + -0.09116257727146149, + 0.17086145281791687, + -3.11791729927063, + -0.2463887482881546, + -0.7343166470527649 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.274829626083374, + -0.089701347053051, + 0.15894727408885956, + -3.135723114013672, + -0.2780863642692566, + -0.8111245036125183 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 3 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27304866909980774, + -0.09156972169876099, + 0.1449495255947113, + 3.1233019828796387, + -0.3198636472225189, + -0.8237640857696533 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27368074655532837, + -0.09304032474756241, + 0.13509860634803772, + 3.117248058319092, + -0.36772629618644714, + -0.8445878028869629 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move left 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27654576301574707, + -0.0922323539853096, + 0.12139708548784256, + 3.0910274982452393, + -0.40933462977409363, + -0.8343021273612976 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764398753643036, + -0.08995336294174194, + 0.10663808882236481, + 3.05450439453125, + -0.4426749646663666, + -0.7849655747413635 + ], + "gripper_value": 0.8279770016670227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible in the basin. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the detergent bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 8 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27472469210624695, + -0.09075699746608734, + 0.10127228498458862, + 3.028050184249878, + -0.4711005687713623, + -0.7408767342567444 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot arm is positioned directly above the detergent bottle in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the bottle. The next action is to fully close the gripper to grasp the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 9 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27158787846565247, + -0.09115839749574661, + 0.10168531537055969, + 3.01930570602417, + -0.46188512444496155, + -0.6976990699768066 + ], + "gripper_value": 0.58391273021698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot arm is positioned directly above the detergent bottle in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the bottle. The next action is to fully close the gripper to grasp the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 9 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.258903831243515, + -0.09690990298986435, + 0.11672002077102661, + 3.015890598297119, + -0.37369537353515625, + -0.6438910961151123 + ], + "gripper_value": 0.58391273021698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot arm is positioned directly above the detergent bottle in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the bottle. The next action is to fully close the gripper to grasp the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527713477611542, + -0.08992814272642136, + 0.14870108664035797, + 3.0601532459259033, + -0.32807260751724243, + -0.6117459535598755 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot arm is positioned directly above the detergent bottle in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the bottle. The next action is to fully close the gripper to grasp the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24933290481567383, + -0.06928896903991699, + 0.170857772231102, + 3.1360442638397217, + -0.29046788811683655, + -0.5294178128242493 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "grasp detergent bottle", + "subtask_reasoning": "The robot arm is positioned directly above the detergent bottle in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the bottle. The next action is to fully close the gripper to grasp the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 8 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2469497174024582, + -0.03475077822804451, + 0.187961608171463, + -3.086501359939575, + -0.3116046190261841, + -0.4310727119445801 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green scrubber": [ + 1, + 224, + 147, + 477 + ], + "yellow dish rack": [ + 83, + 47, + 502, + 434 + ], + "red plate": [ + 901, + 131, + 996, + 261 + ], + "blue cup": [ + 762, + 199, + 984, + 392 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "place bottle in drying rack", + "subtask_reasoning": "The robot arm is positioned directly above the detergent bottle in the sink, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the bottle. The next action is to fully close the gripper to grasp the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24571643769741058, + -0.004262140952050686, + 0.1910763829946518, + -3.0674543380737305, + -0.2874865233898163, + -0.4217142164707184 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "place bottle in drying rack", + "subtask_reasoning": "The detergent bottle is currently held above the sink, positioned near the yellow drying rack. The gripper remains closed with no significant change, indicating the bottle is still grasped. The next action should be to move the bottle into the drying rack and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2581891715526581, + 0.026458989828824997, + 0.1996167004108429, + -3.037504196166992, + -0.2837681472301483, + -0.41116219758987427 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "place bottle in drying rack", + "subtask_reasoning": "The detergent bottle is currently held above the sink, positioned near the yellow drying rack. The gripper remains closed with no significant change, indicating the bottle is still grasped. The next action should be to move the bottle into the drying rack and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647913694381714, + 0.04913974180817604, + 0.197903111577034, + -3.027144432067871, + -0.2810018062591553, + -0.431371808052063 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the detergent bottle in the sink and place it into the yellow drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "grasp detergent bottle" + }, + { + "id": 3, + "subtask": "place bottle in drying rack" + } + ], + "subtask_name": "place bottle in drying rack", + "subtask_reasoning": "The detergent bottle is currently held above the sink, positioned near the yellow drying rack. The gripper remains closed with no significant change, indicating the bottle is still grasped. The next action should be to move the bottle into the drying rack and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000708_ecot.json b/cot/chunk-0000/episode_0000708_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9d57884ec74abc4fd2ecafe7aab7b51c353f14 --- /dev/null +++ b/cot/chunk-0000/episode_0000708_ecot.json @@ -0,0 +1,1280 @@ +{ + "task_name": "episode_0000708", + "episode_json": "json/chunk-0000/episode_0000708.json", + "video_path": "videos/chunk-0000/image_0/episode_0000708.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000708.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8483431935310364, + "std": 0.3979324698448181, + "delta_total": -0.8476818203926086, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.84834, std=0.39793, total_delta=-0.84768). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 11 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the lever with open gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 5, \"end\": 10, \"planning\": \"Close gripper around lever base as confirmed by significant gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"rotate lever vertical\", \"start\": 11, \"end\": 16, \"planning\": \"Apply torque to rotate lever upward while maintaining firm grip, evidenced by sustained low gripper value.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 17, \"end\": 19, \"planning\": \"Open gripper slightly and withdraw end-effector after achieving vertical orientation.\"}\n ],\n \"global_plan\": \"Approach the lever, grasp it securely, rotate it to vertical front position, then release and retreat.\",\n \"notes\": \"Gripper closure is meaningful in both segments (range > 0.17), and image evidence supports physical interaction with lever; thus 'grasp' and 'hold' are justified. Motion data confirms rotational manipulation during segment 2.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the lever with open gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp lever", + "start": 5, + "end": 10, + "planning": "Close gripper around lever base as confirmed by significant gripper closure and stable pose." + }, + { + "id": 3, + "name": "rotate lever vertical", + "start": 11, + "end": 16, + "planning": "Apply torque to rotate lever upward while maintaining firm grip, evidenced by sustained low gripper value." + }, + { + "id": 4, + "name": "release and retreat", + "start": 17, + "end": 19, + "planning": "Open gripper slightly and withdraw end-effector after achieving vertical orientation." + } + ], + "global_plan": "Approach the lever, grasp it securely, rotate it to vertical front position, then release and retreat.", + "notes": "Gripper closure is meaningful in both segments (range > 0.17), and image evidence supports physical interaction with lever; thus 'grasp' and 'hold' are justified. Motion data confirms rotational manipulation during segment 2." + } + }, + "episode_goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.312046617269516, + -0.03248792514204979, + 0.09682826697826385, + -3.0561680793762207, + -0.20538954436779022, + 0.04098672419786453 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue lever and various toy food items. The gripper is currently open and the arm is hovering near the target area, indicating the approach phase is underway but contact has not yet been made. The next action is to continue moving the end-effector closer to the blue lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.314648300409317, + -0.03178674727678299, + 0.08914215117692947, + -3.026717185974121, + -0.20548434555530548, + 0.029592840000987053 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue lever and various toy food items. The gripper is currently open and the arm is hovering near the target area, indicating the approach phase is underway but contact has not yet been made. The next action is to continue moving the end-effector closer to the blue lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32174012064933777, + -0.03154352679848671, + 0.09221956878900528, + -3.008190870285034, + -0.24673177301883698, + 0.016711149364709854 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue lever, with the gripper currently open and hovering near the target. No contact or grasping has occurred yet as the subtask is still in the approach phase. The next action should be to lower the gripper slightly to align with and make contact with the blue lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3311011493206024, + -0.03325057029724121, + 0.09321773052215576, + -2.994265079498291, + -0.29660964012145996, + 0.005157328210771084 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue lever, with the gripper currently open and hovering near the target. No contact or grasping has occurred yet as the subtask is still in the approach phase. The next action should be to lower the gripper slightly to align with and make contact with the blue lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3379587233066559, + -0.03333099186420441, + 0.09599168598651886, + -2.9782938957214355, + -0.3452273905277252, + -0.003006234299391508 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue lever, with the gripper currently open and hovering near the target. No contact or grasping has occurred yet as the subtask is still in the approach phase. The next action should be to lower the gripper slightly to align with and make contact with the blue lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429950475692749, + -0.03421410918235779, + 0.09653495252132416, + -2.9688456058502197, + -0.3751584589481354, + -0.018840959295630455 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue lever, with the gripper currently open and hovering near the target. No contact or grasping has occurred yet as the subtask is still in the approach phase. The next action should be to lower the gripper slightly to align with and make contact with the blue lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3477190434932709, + -0.03452034667134285, + 0.09744172543287277, + -2.9640321731567383, + -0.3958077132701874, + -0.030194895341992378 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot is positioned above the open drawer containing the blue lever, with the gripper currently open and hovering near the target. No contact or grasping has occurred yet as the subtask is still in the approach phase. The next action should be to lower the gripper slightly to align with and make contact with the blue lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, close gripper; then move back 2 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35427945852279663, + -0.03426451236009598, + 0.10224359482526779, + -2.9688520431518555, + -0.42341041564941406, + -0.02541292831301689 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot's end-effector is positioned near the blue lever inside the open drawer, with the gripper currently open. The approach phase is complete, and the arm is stationary, poised to make contact. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35846206545829773, + -0.03305913880467415, + 0.09946347028017044, + -2.9668192863464355, + -0.42534708976745605, + -0.035995617508888245 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot's end-effector is positioned near the blue lever inside the open drawer, with the gripper currently open. The approach phase is complete, and the arm is stationary, poised to make contact. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3661966919898987, + -0.0328025184571743, + 0.10020670294761658, + -2.985647201538086, + -0.4424646496772766, + -0.02760649099946022 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cutting board": [ + 3, + 193, + 161, + 455 + ], + "toy knife": [ + 25, + 190, + 162, + 303 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot's end-effector is positioned near the blue lever inside the open drawer, with the gripper currently open. The approach phase is complete, and the arm is stationary, poised to make contact. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712199628353119, + -0.03185909241437912, + 0.09424369037151337, + -2.9887542724609375, + -0.4334632158279419, + -0.025201410055160522 + ], + "gripper_value": 0.8270506262779236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot's end-effector is positioned near the blue lever inside the open drawer, with the gripper currently open. The approach phase is complete, and the arm is stationary, poised to make contact. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37355148792266846, + -0.030528845265507698, + 0.09270065277814865, + -2.9858527183532715, + -0.4307160973548889, + -0.01904972642660141 + ], + "gripper_value": 0.4975702464580536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot's end-effector is positioned near the blue lever inside the open drawer, with the gripper currently open. The approach phase is complete, and the arm is stationary, poised to make contact. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37443476915359497, + -0.02914019301533699, + 0.09385247528553009, + -2.977128028869629, + -0.4317070543766022, + -0.016360491514205933 + ], + "gripper_value": 0.24054749310016632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot's end-effector is positioned near the blue lever inside the open drawer, with the gripper currently open. The approach phase is complete, and the arm is stationary, poised to make contact. The next action is to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37374091148376465, + -0.03343813493847847, + 0.09386678785085678, + -2.9726691246032715, + -0.435508131980896, + -0.013666192069649696 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the blue lever inside the drawer. The current frame shows the gripper in contact with the lever, and segment-level evidence supports a maintained grasp. The next action is to rotate the lever to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3705914318561554, + -0.034850601106882095, + 0.09162043780088425, + -2.986849069595337, + -0.45045921206474304, + 0.02126147970557213 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the blue lever inside the drawer. The current frame shows the gripper in contact with the lever, and segment-level evidence supports a maintained grasp. The next action is to rotate the lever to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36231157183647156, + -0.03560918942093849, + 0.09057404100894928, + -2.9977030754089355, + -0.4662812054157257, + 0.05281452462077141 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the blue lever inside the drawer. The current frame shows the gripper in contact with the lever, and segment-level evidence supports a maintained grasp. The next action is to rotate the lever to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35443469882011414, + -0.03593145310878754, + 0.08795768767595291, + -3.0175533294677734, + -0.4883793294429779, + 0.09004101157188416 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the blue lever inside the drawer. The current frame shows the gripper in contact with the lever, and segment-level evidence supports a maintained grasp. The next action is to rotate the lever to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453008234500885, + -0.03626006096601486, + 0.08361496776342392, + -3.0550222396850586, + -0.5101913213729858, + 0.14307887852191925 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cutting board": [ + 2, + 198, + 163, + 460 + ], + "toy knife": [ + 16, + 196, + 162, + 307 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has approached and grasped the blue lever inside the drawer. The current frame shows the gripper in contact with the lever, and segment-level evidence supports a maintained grasp. The next action is to rotate the lever to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3365563452243805, + -0.037472158670425415, + 0.07782629877328873, + -3.1080689430236816, + -0.5433838367462158, + 0.195276141166687 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to the vertical front position and the gripper is open, indicating release is complete. The robot is now retreating from the drawer area. No further interaction with the lever is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320724368095398, + -0.038501158356666565, + 0.07218854129314423, + 3.1304874420166016, + -0.574641764163971, + 0.22999104857444763 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue lever in the drawer and rotate it to a vertical orientation facing the front of the robot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to the vertical front position and the gripper is open, indicating release is complete. The robot is now retreating from the drawer area. No further interaction with the lever is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000710_ecot.json b/cot/chunk-0000/episode_0000710_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbda7742fd9817ce52fb88615eb5c21c9e83a6b --- /dev/null +++ b/cot/chunk-0000/episode_0000710_ecot.json @@ -0,0 +1,2673 @@ +{ + "task_name": "episode_0000710", + "episode_json": "json/chunk-0000/episode_0000710.json", + "video_path": "videos/chunk-0000/image_0/episode_0000710.mp4", + "instruction": "Pick up the spatula and move it to the lower right corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000710.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.6505292654037476, + "std": 0.30982911586761475, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65053, std=0.30983, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 213, + 213, + 213, + 213, + 213, + 13, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 331, + 331, + 131, + 131, + 131, + 131 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 17 + ], + [ + 3, + 18, + 22 + ], + [ + 4, + 23, + 23 + ], + [ + 5, + 24, + 30 + ], + [ + 6, + 31, + 32 + ], + [ + 7, + 33, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper toward the spatula on the yellow cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp spatula\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the spatula handle to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and reposition spatula\", \"start\": 13, \"end\": 22, \"planning\": \"Lift the spatula and move it across the table toward the lower right corner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"lower spatula to target\", \"start\": 23, \"end\": 30, \"planning\": \"Descend with the spatula and position it near the lower right corner of the table.\"},\n {\"id\": 5, \"name\": \"release spatula\", \"start\": 31, \"end\": 33, \"planning\": \"Open the gripper to release the spatula onto the table surface.\"},\n {\"id\": 6, \"name\": \"retreat from spatula\", \"start\": 34, \"end\": 36, \"planning\": \"Move the gripper away from the released spatula to complete the task.\"}\n ],\n \"global_plan\": \"Approach the spatula, grasp it securely, lift and transport it to the lower right corner of the table, then release and retreat.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (range=0.337) consistent with grasping; Segment 3 has no closing but motion indicates transport; Segment 5 shows slight opening at end consistent with release preparation; Segment 7 confirms full release and retreat. All subtasks align with observed gripper states and motion phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 5, + "planning": "Move the gripper toward the spatula on the yellow cloth without closing." + }, + { + "id": 2, + "name": "grasp spatula", + "start": 6, + "end": 12, + "planning": "Close the gripper around the spatula handle to secure it for lifting." + }, + { + "id": 3, + "name": "lift and reposition spatula", + "start": 13, + "end": 22, + "planning": "Lift the spatula and move it across the table toward the lower right corner while maintaining grip." + }, + { + "id": 4, + "name": "lower spatula to target", + "start": 23, + "end": 30, + "planning": "Descend with the spatula and position it near the lower right corner of the table." + }, + { + "id": 5, + "name": "release spatula", + "start": 31, + "end": 33, + "planning": "Open the gripper to release the spatula onto the table surface." + }, + { + "id": 6, + "name": "retreat from spatula", + "start": 34, + "end": 36, + "planning": "Move the gripper away from the released spatula to complete the task." + } + ], + "global_plan": "Approach the spatula, grasp it securely, lift and transport it to the lower right corner of the table, then release and retreat.", + "notes": "Segment 1 shows meaningful gripper closing (range=0.337) consistent with grasping; Segment 3 has no closing but motion indicates transport; Segment 5 shows slight opening at end consistent with release preparation; Segment 7 confirms full release and retreat. All subtasks align with observed gripper states and motion phases." + } + }, + "episode_goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346274793148041, + 0.02322820946574211, + 0.10583175718784332, + -3.053346633911133, + -0.005082329269498587, + 0.034869592636823654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue spatula visible on a yellow cloth. The gripper is currently open and the robot has not yet made contact with the target object. The next action is to lower the end-effector and move it closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33370324969291687, + 0.02343432791531086, + 0.09337735921144485, + -3.0550739765167236, + 0.02465200610458851, + 0.029872732236981392 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden table with the blue spatula visible on a yellow cloth. The gripper is currently open and the robot has not yet made contact with the target object. The next action is to lower the end-effector and move it closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355308771133423, + 0.04265758767724037, + 0.0827406793832779, + -3.057321786880493, + -0.01739608868956566, + 0.0376778319478035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden table, with the blue spatula visible to the left near a metal bowl. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33827462792396545, + 0.0624442994594574, + 0.06454182416200638, + -3.0605885982513428, + -0.010783986188471317, + 0.06818173825740814 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "corn": [ + 360, + 481, + 557, + 619 + ], + "wooden table": [ + 17, + 187, + 898, + 991 + ], + "metal strainer": [ + 78, + 318, + 367, + 518 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden table, with the blue spatula visible to the left near a metal bowl. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34072792530059814, + 0.07652189582586288, + 0.048826560378074646, + -3.0534660816192627, + 0.0011612613452598453, + 0.1081165224313736 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden table, with the blue spatula visible to the left near a metal bowl. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3483484983444214, + 0.08512801676988602, + 0.04235738143324852, + -3.053570032119751, + -0.00269871624186635, + 0.13668696582317352 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the wooden table, with the blue spatula visible to the left near a metal bowl. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 3 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505609929561615, + 0.0938100665807724, + 0.0414944589138031, + -3.0479936599731445, + -0.007656624540686607, + 0.16121777892112732 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the wooden table, with the blue spatula visible to the left near a metal bowl. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 3 cm, move right 8 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35099995136260986, + 0.10521906614303589, + 0.038054391741752625, + -3.041774272918701, + -0.014402849599719048, + 0.19448250532150269 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the wooden table, with the blue spatula visible to the left near a metal bowl. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 5 cm, move right 12 cm, move up 13 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35532286763191223, + 0.11095565557479858, + 0.03435993939638138, + -3.0313570499420166, + -0.016839100047945976, + 0.2094753384590149 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the wooden table, with the blue spatula visible to the left near a metal bowl. The gripper is fully open and has not moved significantly, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 7 cm, move right 17 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35622096061706543, + 0.11311086267232895, + 0.028053870424628258, + -3.027120351791382, + -0.013153968378901482, + 0.2188599854707718 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 9 cm, move right 21 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35777747631073, + 0.11347115784883499, + 0.017827283591032028, + -3.028130292892456, + 0.003907531034201384, + 0.21681679785251617 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 11 cm, move right 26 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619072139263153, + 0.10824591666460037, + 0.013674705289304256, + -3.0230417251586914, + 0.009712683036923409, + 0.19994491338729858 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 10 cm, move right 29 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36303362250328064, + 0.10381286591291428, + 0.013752763159573078, + -3.0190272331237793, + 0.01064850203692913, + 0.19001072645187378 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 11 cm, move right 29 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3629819452762604, + 0.10046755522489548, + 0.014015302993357182, + -3.0068113803863525, + 0.01707100309431553, + 0.18218956887722015 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 29 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3557853400707245, + 0.0968828797340393, + 0.01767907291650772, + -2.9878454208374023, + 0.05682149901986122, + 0.17646574974060059 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 28 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34669673442840576, + 0.07273142039775848, + 0.07536439597606659, + -2.998011350631714, + -0.014604944735765457, + 0.14714662730693817 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 26 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move left 2 cm, move up 5 cm, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33065247535705566, + 0.023959552869200706, + 0.1301717907190323, + -3.0374886989593506, + -0.1121881753206253, + 0.07119619101285934 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 67, + 320, + 368, + 518 + ], + "yellow cloth": [ + 324, + 281, + 560, + 499 + ], + "wooden table": [ + 16, + 187, + 899, + 992 + ], + "corn": [ + 360, + 482, + 557, + 619 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has approached the blue spatula on the wooden table, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 21 cm, move down 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.314167320728302, + -0.016324423253536224, + 0.14310124516487122, + -3.1070640087127686, + -0.12922576069831848, + -0.029008416458964348 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 17 cm, move down 13 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move left 8 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977348864078522, + -0.06587576121091843, + 0.10989682376384735, + 3.078000068664551, + -0.08324768394231796, + -0.1984495222568512 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 12 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27188819646835327, + -0.1101868748664856, + 0.07341992110013962, + 3.043896436691284, + -0.0036973818205296993, + -0.21688218414783478 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed; then move left 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25307902693748474, + -0.16178074479103088, + 0.0486266054213047, + 3.053365468978882, + -0.01690826192498207, + -0.2634466290473938 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2593749165534973, + -0.1865677833557129, + 0.021315336227416992, + 3.078639030456543, + 0.021426940336823463, + -0.283054918050766 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move left 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.251893550157547, + -0.1886036992073059, + 0.009401503950357437, + 3.1166884899139404, + 0.08390472829341888, + -0.31724047660827637 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 9 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24772106111049652, + -0.18466219305992126, + 0.0134459612891078, + -3.1254353523254395, + 0.043108321726322174, + -0.30894243717193604 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25240740180015564, + -0.1749333143234253, + 0.04968002066016197, + 3.1223561763763428, + -0.1614401638507843, + -0.370274156332016 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25100022554397583, + -0.16311737895011902, + 0.06522863358259201, + 3.113722801208496, + -0.2615181505680084, + -0.3694790303707123 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot has successfully grasped the blue spatula and lifted it above the table surface. The current state shows the spatula suspended in the air, indicating the lifting phase is complete. The next action is to translate the end-effector towards the lower right corner of the table to position the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 6 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24889588356018066, + -0.12463889271020889, + 0.05608679726719856, + 3.101592779159546, + -0.20973293483257294, + -0.2369094043970108 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 66, + 319, + 369, + 516 + ], + "yellow cloth": [ + 324, + 280, + 562, + 501 + ], + "wooden table": [ + 17, + 204, + 916, + 988 + ], + "corn": [ + 361, + 482, + 558, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot is holding the blue spatula and has moved it over the lower right corner of the wooden table. The arm is currently positioned low, near the table surface, indicating the object is being placed. The next action is to release the gripper to deposit the spatula onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.246543750166893, + -0.1028527244925499, + 0.040292929857969284, + 3.1036922931671143, + -0.11234236508607864, + -0.14327195286750793 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot is holding the blue spatula and has moved it over the lower right corner of the wooden table. The arm is currently positioned low, near the table surface, indicating the object is being placed. The next action is to release the gripper to deposit the spatula onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2449743002653122, + -0.09535852819681168, + 0.022254284471273422, + 3.0834856033325195, + -0.043525028973817825, + -0.0976613312959671 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot is holding the blue spatula and has moved it over the lower right corner of the wooden table. The arm is currently positioned low, near the table surface, indicating the object is being placed. The next action is to release the gripper to deposit the spatula onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25162187218666077, + -0.09756394475698471, + 0.010037297382950783, + 3.0662665367126465, + 0.002122123260051012, + -0.07572875171899796 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot is holding the blue spatula and has moved it over the lower right corner of the wooden table. The arm is currently positioned low, near the table surface, indicating the object is being placed. The next action is to release the gripper to deposit the spatula onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25631678104400635, + -0.10032542794942856, + 0.005516931414604187, + 3.0579440593719482, + 0.019422218203544617, + -0.06896552443504333 + ], + "gripper_value": 0.41932523250579834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "lower spatula to target", + "subtask_reasoning": "The robot is holding the blue spatula and has moved it over the lower right corner of the wooden table. The arm is currently positioned low, near the table surface, indicating the object is being placed. The next action is to release the gripper to deposit the spatula onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25079262256622314, + -0.09672912210226059, + 0.008971264585852623, + 3.0906169414520264, + 0.05013805255293846, + -0.0653209537267685 + ], + "gripper_value": 0.7240482568740845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot is holding the blue spatula and has moved it over the lower right corner of the wooden table. The arm is currently positioned low, near the table surface, indicating the object is being placed. The next action is to release the gripper to deposit the spatula onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 13 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514597773551941, + -0.10276604443788528, + 0.06440603733062744, + 3.1170427799224854, + -0.08236578106880188, + -0.1245022639632225 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot has transported the blue spatula to the lower right corner of the table and is currently holding it above the surface. The gripper is open, indicating the spatula has been released or is in the process of being placed down. The next action is to ensure full release and retreat from the area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 8 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25266990065574646, + -0.09120480716228485, + 0.11316428333520889, + -3.1070735454559326, + -0.1426754742860794, + -0.12252790480852127 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 66, + 319, + 368, + 518 + ], + "yellow cloth": [ + 323, + 279, + 564, + 500 + ], + "wooden table": [ + 16, + 187, + 899, + 991 + ], + "corn": [ + 360, + 481, + 560, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "release spatula", + "subtask_reasoning": "The robot has transported the blue spatula to the lower right corner of the table and is currently holding it above the surface. The gripper is open, indicating the spatula has been released or is in the process of being placed down. The next action is to ensure full release and retreat from the area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 3 cm, keep gripper open; then move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.259166419506073, + -0.06386865675449371, + 0.1431039571762085, + -3.0754470825195312, + -0.13532282412052155, + -0.054462116211652756 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "retreat from spatula", + "subtask_reasoning": "The robot has transported the blue spatula to the lower right corner of the table and is currently holding it above the surface. The gripper is open, indicating the spatula has been released or is in the process of being placed down. The next action is to ensure full release and retreat from the area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2576243579387665, + -0.0552101768553257, + 0.1309228241443634, + -3.0465681552886963, + -0.05560795217752457, + -0.03224276378750801 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "retreat from spatula", + "subtask_reasoning": "The spatula has been successfully placed in the lower right corner of the table. The gripper is currently open and positioned above the table, indicating the release is complete. The robot needs to retreat or move away from the spatula to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 34, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556804120540619, + -0.05349305644631386, + 0.13027292490005493, + -3.088954448699951, + -0.033692747354507446, + 0.017727334052324295 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue spatula and place it in the lower right corner of the wooden table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "lower spatula to target" + }, + { + "id": 5, + "subtask": "release spatula" + }, + { + "id": 6, + "subtask": "retreat from spatula" + } + ], + "subtask_name": "retreat from spatula", + "subtask_reasoning": "The spatula has been successfully placed in the lower right corner of the table. The gripper is currently open and positioned above the table, indicating the release is complete. The robot needs to retreat or move away from the spatula to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000712_ecot.json b/cot/chunk-0000/episode_0000712_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5a1c758946a3061ab6f30c5785851b8c561fda9e --- /dev/null +++ b/cot/chunk-0000/episode_0000712_ecot.json @@ -0,0 +1,2183 @@ +{ + "task_name": "episode_0000712", + "episode_json": "json/chunk-0000/episode_0000712.json", + "video_path": "videos/chunk-0000/image_0/episode_0000712.mp4", + "instruction": "Move the plastic ice cream scoop to the lower center of the countertop.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000712.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.6690154075622559, + "std": 0.31647953391075134, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66902, std=0.31648, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 314, + 314, + 314, + 314, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 129, + 129, + 129, + 129, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 13 + ], + [ + 4, + 14, + 17 + ], + [ + 5, + 18, + 26 + ], + [ + 6, + 27, + 28 + ], + [ + 7, + 29, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach ice cream scoop\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector from the initial position toward the blue ice cream scoop on the countertop.\"},\n {\"id\": 2, \"name\": \"grasp ice cream scoop\", \"start\": 9, \"end\": 17, \"planning\": \"Close the gripper around the handle of the ice cream scoop to secure it for transport.\"},\n {\"id\": 3, \"name\": \"transport scoop to target\", \"start\": 18, \"end\": 28, \"planning\": \"Carry the grasped ice cream scoop across the countertop toward the lower center destination area.\"},\n {\"id\": 4, \"name\": \"release ice cream scoop\", \"start\": 29, \"end\": 33, \"planning\": \"Open the gripper to place the ice cream scoop at the target location and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the blue ice cream scoop, grasp it securely, transport it to the lower center of the countertop, and release it at the target position.\",\n \"notes\": \"Segment 1 (frames 0-3) and Segment 2 (frames 4-8) merged into approach phase since gripper remains open. Segment 3 (9-13) shows meaningful gripper closing consistent with grasping. Segment 5 (18-26) maintains constant gripper state indicating held object during transport. Segment 7 (29-33) shows gripper opening consistent with release action.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach ice cream scoop", + "start": 0, + "end": 8, + "planning": "Move the end-effector from the initial position toward the blue ice cream scoop on the countertop." + }, + { + "id": 2, + "name": "grasp ice cream scoop", + "start": 9, + "end": 17, + "planning": "Close the gripper around the handle of the ice cream scoop to secure it for transport." + }, + { + "id": 3, + "name": "transport scoop to target", + "start": 18, + "end": 28, + "planning": "Carry the grasped ice cream scoop across the countertop toward the lower center destination area." + }, + { + "id": 4, + "name": "release ice cream scoop", + "start": 29, + "end": 33, + "planning": "Open the gripper to place the ice cream scoop at the target location and retreat slightly." + } + ], + "global_plan": "Approach the blue ice cream scoop, grasp it securely, transport it to the lower center of the countertop, and release it at the target position.", + "notes": "Segment 1 (frames 0-3) and Segment 2 (frames 4-8) merged into approach phase since gripper remains open. Segment 3 (9-13) shows meaningful gripper closing consistent with grasping. Segment 5 (18-26) maintains constant gripper state indicating held object during transport. Segment 7 (29-33) shows gripper opening consistent with release action." + } + }, + "episode_goal": "Move the plastic ice cream scoop to the lower center of the countertop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637815773487091, + 0.23990857601165771, + 0.10039971023797989, + 2.991866111755371, + -0.10331287235021591, + 0.7506798505783081 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot is positioned above the countertop with the blue ice cream scoop visible to the right. No movement or grasping has occurred yet, as the gripper remains open and stationary. The next action should be to move the end effector closer to the ice cream scoop to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 21 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.264524906873703, + 0.2377241849899292, + 0.08937833458185196, + 2.9867303371429443, + -0.07139363139867783, + 0.7569387555122375 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot is positioned above the countertop with the blue ice cream scoop visible to the right. No movement or grasping has occurred yet, as the gripper remains open and stationary. The next action should be to move the end effector closer to the ice cream scoop to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 21 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28502005338668823, + 0.21284931898117065, + 0.08621245622634888, + 2.974626064300537, + -0.06044677644968033, + 0.7423003315925598 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot is positioned above the countertop with the blue ice cream scoop visible to the right. No movement or grasping has occurred yet, as the gripper remains open and stationary. The next action should be to move the end effector closer to the ice cream scoop to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 19 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31242167949676514, + 0.1802392452955246, + 0.08429250866174698, + 2.992722988128662, + -0.05584101751446724, + 0.6790723204612732 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot is positioned above the countertop with the blue ice cream scoop visible to the right. No movement or grasping has occurred yet, as the gripper remains open and stationary. The next action should be to move the end effector closer to the ice cream scoop to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 15 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3374526798725128, + 0.14804856479167938, + 0.07420475035905838, + 2.993077278137207, + -0.03842337429523468, + 0.6236615777015686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 12 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36065903306007385, + 0.11587301641702652, + 0.06961249560117722, + 2.998918056488037, + -0.028859533369541168, + 0.5763881802558899 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37359657883644104, + 0.08606483042240143, + 0.0688769742846489, + 2.992108106613159, + -0.037147048860788345, + 0.5363005995750427 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38956350088119507, + 0.0587078332901001, + 0.06190384924411774, + 2.9729208946228027, + -0.02981143444776535, + 0.5263885855674744 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden drumstick": [ + 532, + 451, + 678, + 678 + ], + "metal bowl": [ + 42, + 252, + 250, + 506 + ], + "white appliance": [ + 729, + 307, + 996, + 782 + ], + "orange block": [ + 227, + 179, + 450, + 385 + ] + } + } + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 2 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4038495421409607, + 0.042782556265592575, + 0.05785499885678291, + 2.9204354286193848, + -0.04636756330728531, + 0.5714765191078186 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 42, + 252, + 250, + 507 + ], + "wooden drumstick": [ + 532, + 450, + 677, + 678 + ], + "orange block": [ + 228, + 179, + 443, + 385 + ] + } + } + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "approach ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.41270023584365845, + 0.027681758627295494, + 0.04626726359128952, + 2.903455972671509, + -0.034658364951610565, + 0.5966432094573975 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.41950809955596924, + 0.013964167796075344, + 0.030285604298114777, + 2.9071221351623535, + -0.029510384425520897, + 0.5925960540771484 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper; then move back 5 cm, move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42506468296051025, + 0.013957289047539234, + 0.01731056720018387, + 2.940892457962036, + -0.03325729817152023, + 0.5969316363334656 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4289994239807129, + 0.016362948343157768, + 0.013538534753024578, + 2.954540967941284, + -0.04859248548746109, + 0.6094797849655151 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the blue ice cream scoop from the upper left. No contact or grasping has occurred yet, as the gripper remains fully open. The next action should continue moving the end-effector closer to the scoop to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4318583309650421, + 0.015288281254470348, + 0.011760767549276352, + 2.9715545177459717, + -0.08222454786300659, + 0.6093366146087646 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4290456175804138, + 0.014823329634964466, + 0.008863943628966808, + 2.97318434715271, + -0.08229556679725647, + 0.6148841977119446 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.42577075958251953, + 0.017017001286149025, + 0.008624673821032047, + 2.9855329990386963, + -0.08620338141918182, + 0.6076376438140869 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 11 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4201650619506836, + 0.01830904372036457, + 0.010867784731090069, + 3.006746768951416, + -0.07629641145467758, + 0.5888346433639526 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 11 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.414082795381546, + 0.023137575015425682, + 0.024254806339740753, + 2.982985734939575, + -0.07398615777492523, + 0.5174320340156555 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "grasp ice cream scoop", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move back 11 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4022589921951294, + 0.042231831699609756, + 0.04545582830905914, + 2.9838414192199707, + -0.09548018872737885, + 0.49113813042640686 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38034626841545105, + 0.061437323689460754, + 0.05158990994095802, + 2.995316505432129, + -0.09150534123182297, + 0.4677153527736664 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3518383502960205, + 0.09639136493206024, + 0.05067641660571098, + 3.0159192085266113, + -0.08335436135530472, + 0.46439623832702637 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 42, + 251, + 250, + 507 + ], + "wooden drumstick": [ + 531, + 451, + 689, + 677 + ], + "orange block": [ + 227, + 178, + 398, + 385 + ], + "white appliance": [ + 727, + 308, + 995, + 783 + ] + } + } + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310055732727051, + 0.10711829364299774, + 0.051108937710523605, + 3.0240261554718018, + -0.07665237784385681, + 0.4427475929260254 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128374516963959, + 0.11627644300460815, + 0.04975711554288864, + 3.0190813541412354, + -0.08929608017206192, + 0.40896421670913696 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot has approached the blue ice cream scoop and is currently positioned directly above it. The gripper is open and ready to close, indicating the approach phase is complete. The next action is to close the gripper to securely grasp the scoop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.302899569272995, + 0.1193210706114769, + 0.039704810827970505, + 3.037583112716675, + -0.08713950961828232, + 0.37598156929016113 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29877763986587524, + 0.12196303904056549, + 0.03414230793714523, + 3.06602144241333, + -0.0947437509894371, + 0.35434553027153015 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29614755511283875, + 0.12588536739349365, + 0.029577873647212982, + 3.100799083709717, + -0.10631009191274643, + 0.34047746658325195 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29626408219337463, + 0.1275625228881836, + 0.0229758620262146, + 3.128873348236084, + -0.10147200524806976, + 0.3280543088912964 + ], + "gripper_value": 0.33639705181121826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944096028804779, + 0.12827850878238678, + 0.015603750944137573, + 3.1389827728271484, + -0.08188413083553314, + 0.32858678698539734 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29316070675849915, + 0.12997210025787354, + 0.011985503137111664, + -3.1335902214050293, + -0.07173049449920654, + 0.34937113523483276 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "transport scoop to target", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951022684574127, + 0.12951213121414185, + 0.014053969644010067, + 3.1197104454040527, + -0.07234498858451843, + 0.3662849962711334 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "release ice cream scoop", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.29410815238952637, + 0.13150931894779205, + 0.014407090842723846, + 3.116089344024658, + -0.06715759634971619, + 0.354971319437027 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "release ice cream scoop", + "subtask_reasoning": "The robot is currently holding the blue ice cream scoop and transporting it across the wooden countertop. The gripper remains closed with minimal variation, confirming a secure grasp during movement. The next action is to continue moving the scoop toward the lower center of the countertop before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.292370080947876, + 0.13133549690246582, + 0.01796984300017357, + 3.117288827896118, + -0.05997587740421295, + 0.3349026143550873 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "release ice cream scoop", + "subtask_reasoning": "The robot is positioned over the lower center of the countertop with the blue ice cream scoop held in its gripper. The gripper signal indicates an active grasp state consistent with holding the object during transport. The next action is to open the gripper to release the scoop onto the target surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2959141731262207, + 0.1320534646511078, + 0.04348020255565643, + 3.115669012069702, + -0.12223438918590546, + 0.3317359983921051 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "release ice cream scoop", + "subtask_reasoning": "The robot is positioned over the lower center of the countertop with the blue ice cream scoop held in its gripper. The gripper signal indicates an active grasp state consistent with holding the object during transport. The next action is to open the gripper to release the scoop onto the target surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2984371781349182, + 0.130058154463768, + 0.07202359288930893, + 3.106417417526245, + -0.19224485754966736, + 0.3232261836528778 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 40, + 255, + 244, + 506 + ], + "wooden drumstick": [ + 531, + 448, + 682, + 677 + ], + "orange block": [ + 233, + 200, + 450, + 384 + ] + } + } + }, + "Understanding": { + "goal": "Move the plastic ice cream scoop to the lower center of the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach ice cream scoop" + }, + { + "id": 2, + "subtask": "grasp ice cream scoop" + }, + { + "id": 3, + "subtask": "transport scoop to target" + }, + { + "id": 4, + "subtask": "release ice cream scoop" + } + ], + "subtask_name": "release ice cream scoop", + "subtask_reasoning": "The robot is positioned over the lower center of the countertop with the blue ice cream scoop held in its gripper. The gripper signal indicates an active grasp state consistent with holding the object during transport. The next action is to open the gripper to release the scoop onto the target surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000713_ecot.json b/cot/chunk-0000/episode_0000713_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..611a2bb518a41b983b8dd628cda43fd7044df2ba --- /dev/null +++ b/cot/chunk-0000/episode_0000713_ecot.json @@ -0,0 +1,1704 @@ +{ + "task_name": "episode_0000713", + "episode_json": "json/chunk-0000/episode_0000713.json", + "video_path": "videos/chunk-0000/image_0/episode_0000713.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000713.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.8779494166374207, + "std": 0.3974691927433014, + "delta_total": -0.003338754177093506, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.87795, std=0.39747, total_delta=-0.00334). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 0, + 107, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 120, + 120, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 5 + ], + [ + 3, + 6, + 6 + ], + [ + 4, + 7, + 7 + ], + [ + 5, + 8, + 19 + ], + [ + 6, + 20, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the red drawer handle while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 5, \"end\": 5, \"planning\": \"Position gripper fingers around the drawer handle without closing.\"},\n {\"id\": 3, \"name\": \"close gripper on handle\", \"start\": 6, \"end\": 7, \"planning\": \"Close gripper to secure hold on the drawer handle based on observed gripper closure.\"},\n {\"id\": 4, \"name\": \"pull drawer open\", \"start\": 8, \"end\": 19, \"planning\": \"Apply backward force via gripper to slide the drawer open along its track.\"},\n {\"id\": 5, \"name\": \"release handle and retreat\", \"start\": 20, \"end\": 23, \"planning\": \"Open gripper to release the handle and move end-effector away from the drawer.\"}\n ],\n \"global_plan\": \"Open the drawer by approaching the handle, grasping it, pulling the drawer open, then releasing and retreating.\",\n \"notes\": \"Gripper closure is only applied in segments 3-4 (frames 6-7) where segment-level evidence shows meaningful closing; segment 1 (0-4) uses contact-based language as no gripper closure occurred. Segment 6 (20-23) shows gripper opening, consistent with release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the red drawer handle while maintaining open gripper." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 5, + "end": 5, + "planning": "Position gripper fingers around the drawer handle without closing." + }, + { + "id": 3, + "name": "close gripper on handle", + "start": 6, + "end": 7, + "planning": "Close gripper to secure hold on the drawer handle based on observed gripper closure." + }, + { + "id": 4, + "name": "pull drawer open", + "start": 8, + "end": 19, + "planning": "Apply backward force via gripper to slide the drawer open along its track." + }, + { + "id": 5, + "name": "release handle and retreat", + "start": 20, + "end": 23, + "planning": "Open gripper to release the handle and move end-effector away from the drawer." + } + ], + "global_plan": "Open the drawer by approaching the handle, grasping it, pulling the drawer open, then releasing and retreating.", + "notes": "Gripper closure is only applied in segments 3-4 (frames 6-7) where segment-level evidence shows meaningful closing; segment 1 (0-4) uses contact-based language as no gripper closure occurred. Segment 6 (20-23) shows gripper opening, consistent with release." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32756778597831726, + -0.002010715426877141, + 0.09645336866378784, + 3.0979881286621094, + 0.031822722405195236, + -0.22745540738105774 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to align with the handle for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3231586813926697, + -0.002553745871409774, + 0.08457072824239731, + 3.088414430618286, + 0.07223206013441086, + -0.22642649710178375 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No contact or grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to align with the handle for subsequent grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32581016421318054, + -0.002970596542581916, + 0.06811855733394623, + 3.085273027420044, + 0.06596595793962479, + -0.16308195888996124 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open and no contact yet. The subtask of approaching the handle is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper closer to align with the handle for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33313167095184326, + 0.002413802081719041, + 0.05556383356451988, + 3.093324661254883, + 0.04664570465683937, + -0.0835907831788063 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open and no contact yet. The subtask of approaching the handle is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper closer to align with the handle for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3399718701839447, + 0.007652687840163708, + 0.03622358292341232, + 3.1201252937316895, + 0.05530364066362381, + -0.03967513144016266 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open and no contact yet. The subtask of approaching the handle is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper closer to align with the handle for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501381576061249, + 0.007898072712123394, + 0.025385838001966476, + -3.126936912536621, + 0.046368539333343506, + -0.012315148487687111 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the end-effector aligned near the handle. No grasping has occurred yet as per segment evidence. The next action should be to make physical contact with the handle to prepare for pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.355054646730423, + 0.0023071456234902143, + 0.012986638583242893, + 3.138411045074463, + 0.05212230980396271, + -0.003027089172974229 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach phase. Segment-level gripper evidence indicates a significant closing motion (delta=-0.30295), confirming the gripper is actively grasping the handle. The immediate next step is to complete the closure to secure the grip before pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 6, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35843926668167114, + -0.0028837539721280336, + 0.014016041532158852, + -3.1396756172180176, + 0.04145386442542076, + -0.026155587285757065 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 152, + 3, + 596, + 441 + ], + "orange bottle": [ + 286, + 4, + 381, + 158 + ], + "leopard print ball": [ + 252, + 601, + 409, + 796 + ], + "white ball": [ + 366, + 2, + 447, + 98 + ], + "blue cloth": [ + 15, + 385, + 197, + 579 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach phase. Segment-level gripper evidence indicates a significant closing motion (delta=-0.30295), confirming the gripper is actively grasping the handle. The immediate next step is to complete the closure to secure the grip before pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 6, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36121121048927307, + -0.010666408576071262, + 0.015111221931874752, + 3.122605323791504, + 0.03328130021691322, + -0.040979932993650436 + ], + "gripper_value": 0.17405910789966583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach phase. Segment-level gripper evidence indicates a significant closing motion (delta=-0.30295), confirming the gripper is actively grasping the handle. The immediate next step is to complete the closure to secure the grip before pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643167018890381, + -0.026241246610879898, + 0.016495682299137115, + 3.1026196479797363, + 0.03736143931746483, + -0.06962709873914719 + ], + "gripper_value": 0.12439525872468948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach phase. Segment-level gripper evidence indicates a significant closing motion (delta=-0.30295), confirming the gripper is actively grasping the handle. The immediate next step is to complete the closure to secure the grip before pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36436018347740173, + -0.03990431874990463, + 0.017028849571943283, + 3.09477162361145, + 0.03733152151107788, + -0.0974089577794075 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bottle": [ + 287, + 5, + 382, + 158 + ], + "blue cloth": [ + 469, + 133, + 575, + 258 + ], + "white ball": [ + 366, + 2, + 447, + 98 + ], + "leopard print ball": [ + 250, + 596, + 409, + 795 + ], + "wooden box": [ + 153, + 4, + 654, + 472 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach phase. Segment-level gripper evidence indicates a significant closing motion (delta=-0.30295), confirming the gripper is actively grasping the handle. The immediate next step is to complete the closure to secure the grip before pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660620152950287, + -0.04311743378639221, + 0.017617424950003624, + 3.0968129634857178, + 0.046596504747867584, + -0.10749849677085876 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach phase. Segment-level gripper evidence indicates a significant closing motion (delta=-0.30295), confirming the gripper is actively grasping the handle. The immediate next step is to complete the closure to secure the grip before pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36783042550086975, + -0.048199065029621124, + 0.017257215455174446, + 3.1019749641418457, + 0.0530148483812809, + -0.12020964920520782 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot's end-effector is in contact with the red drawer handle, having completed the approach phase. Segment-level gripper evidence indicates a significant closing motion (delta=-0.30295), confirming the gripper is actively grasping the handle. The immediate next step is to complete the closure to secure the grip before pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692479431629181, + -0.050262872129678726, + 0.016497451812028885, + 3.1044158935546875, + 0.05921595171093941, + -0.1266527771949768 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36997169256210327, + -0.05158671364188194, + 0.01695237308740616, + 3.1115448474884033, + 0.06112908571958542, + -0.12576361000537872 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37147191166877747, + -0.054492320865392685, + 0.016273165121674538, + 3.112846851348877, + 0.06888063251972198, + -0.13145782053470612 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37204545736312866, + -0.058592941612005234, + 0.016587698832154274, + 3.1172478199005127, + 0.07366343587636948, + -0.13835150003433228 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37221357226371765, + -0.0605156347155571, + 0.0166472177952528, + 3.120349168777466, + 0.0737769678235054, + -0.13970249891281128 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37117260694503784, + -0.06159452348947525, + 0.017387934029102325, + 3.1271255016326904, + 0.0813981369137764, + -0.14777810871601105 + ], + "gripper_value": 0.15820781886577606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37259092926979065, + -0.06959401071071625, + 0.01785869151353836, + 3.140355110168457, + 0.06596367061138153, + -0.1818745732307434 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "pull drawer open", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 8, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37402623891830444, + -0.07157408446073532, + 0.024169201031327248, + -3.1268818378448486, + 0.044141583144664764, + -0.17391423881053925 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The robot is currently grasping the drawer handle, as indicated by the low gripper value and segment-level evidence. The drawer is partially open, showing that the pulling action is in progress. The next action is to continue pulling the drawer further open by moving the end-effector backward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37485164403915405, + -0.07177236676216125, + 0.043386831879615784, + -3.109348773956299, + 0.014641748741269112, + -0.1881413459777832 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is already open, and the robot's gripper is no longer in contact with the handle, indicating the release phase is complete. The end-effector is positioned near the drawer but not interacting with it. The next action is to retreat further from the drawer to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37894728779792786, + -0.07259450852870941, + 0.06747359037399292, + -3.094790458679199, + -0.009610744193196297, + -0.17662788927555084 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is already open, and the robot's gripper is no longer in contact with the handle, indicating the release phase is complete. The end-effector is positioned near the drawer but not interacting with it. The next action is to retreat further from the drawer to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.38016223907470703, + -0.07692235708236694, + 0.09507699310779572, + -3.12060546875, + -0.02842874638736248, + -0.17408113181591034 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bottle": [ + 288, + 5, + 386, + 156 + ], + "leopard print ball": [ + 250, + 595, + 409, + 791 + ], + "blue cloth": [ + 440, + 114, + 638, + 282 + ], + "white ball": [ + 368, + 2, + 448, + 95 + ], + "wooden box": [ + 150, + 4, + 737, + 499 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "pull drawer open" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is already open, and the robot's gripper is no longer in contact with the handle, indicating the release phase is complete. The end-effector is positioned near the drawer but not interacting with it. The next action is to retreat further from the drawer to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000714_ecot.json b/cot/chunk-0000/episode_0000714_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..27b41f9077e5d26a0e20e125ff75cdf6355bccd8 --- /dev/null +++ b/cot/chunk-0000/episode_0000714_ecot.json @@ -0,0 +1,2856 @@ +{ + "task_name": "episode_0000714", + "episode_json": "json/chunk-0000/episode_0000714.json", + "video_path": "videos/chunk-0000/image_0/episode_0000714.mp4", + "instruction": "Moved the silver pot to the lower left side of the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000714.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.9456212520599365, + "std": 0.4402540624141693, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94562, std=0.44025, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 216, + 216, + 216, + 216, + 216, + 216, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 35, + 35, + 35, + 35, + 35, + 35, + 35 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 3, + 6, + 15 + ], + [ + 4, + 16, + 21 + ], + [ + 5, + 22, + 34 + ], + [ + 6, + 35, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from initial position toward the silver pot near the right burner.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 6, \"end\": 15, \"planning\": \"Close gripper around the silver pot while making contact and securing hold, as evidenced by gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 16, \"end\": 21, \"planning\": \"Lift the pot slightly and begin moving it leftward across the stovetop while maintaining grip.\"},\n {\"id\": 4, \"name\": \"slide pot to target zone\", \"start\": 22, \"end\": 34, \"planning\": \"Drag or slide the pot along the stovetop surface toward the lower left side of the left burner without lifting.\"},\n {\"id\": 5, \"name\": \"release pot at target\", \"start\": 35, \"end\": 41, \"planning\": \"Open gripper to release the pot at its final position on the lower left of the left burner, then retreat slightly.\"}\n ],\n \"global_plan\": \"The robot approaches the silver pot, grasps it securely, lifts and moves it leftward, slides it into position on the lower left of the left burner, then releases it.\",\n \"notes\": \"Segment 2 (frames 1-5) is merged with Segment 1 (frame 0) into subtask 1 since both show no gripper activity and represent continuous approach motion. Segment 5 (frames 22-34) is treated as sliding/repositioning based on low gripper variation and horizontal motion. Final release is confirmed by gripper opening in Segment 6.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 5, + "planning": "Move the end-effector from initial position toward the silver pot near the right burner." + }, + { + "id": 2, + "name": "grasp pot", + "start": 6, + "end": 15, + "planning": "Close gripper around the silver pot while making contact and securing hold, as evidenced by gripper closure and stable pose." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 16, + "end": 21, + "planning": "Lift the pot slightly and begin moving it leftward across the stovetop while maintaining grip." + }, + { + "id": 4, + "name": "slide pot to target zone", + "start": 22, + "end": 34, + "planning": "Drag or slide the pot along the stovetop surface toward the lower left side of the left burner without lifting." + }, + { + "id": 5, + "name": "release pot at target", + "start": 35, + "end": 41, + "planning": "Open gripper to release the pot at its final position on the lower left of the left burner, then retreat slightly." + } + ], + "global_plan": "The robot approaches the silver pot, grasps it securely, lifts and moves it leftward, slides it into position on the lower left of the left burner, then releases it.", + "notes": "Segment 2 (frames 1-5) is merged with Segment 1 (frame 0) into subtask 1 since both show no gripper activity and represent continuous approach motion. Segment 5 (frames 22-34) is treated as sliding/repositioning based on low gripper variation and horizontal motion. Final release is confirmed by gripper opening in Segment 6." + } + }, + "episode_goal": "Move the silver pot to the lower left side of the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133286237716675, + 0.008955959230661392, + 0.09615225344896317, + 2.743774175643921, + -0.35550758242607117, + 0.9419143199920654 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 7 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.302121639251709, + 0.007860585115849972, + 0.08166845887899399, + 2.7872750759124756, + -0.32334890961647034, + 0.9258309006690979 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 7 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998618483543396, + -0.002880476415157318, + 0.08227531611919403, + 2.7897281646728516, + -0.31499630212783813, + 0.908020555973053 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951597571372986, + -0.028528423979878426, + 0.09696555882692337, + 2.742234706878662, + -0.33378922939300537, + 0.8839505314826965 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28546199202537537, + -0.0474269837141037, + 0.10462287068367004, + 2.7272708415985107, + -0.34538495540618896, + 0.8284977078437805 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26484090089797974, + -0.06124415621161461, + 0.09403610229492188, + 2.777141571044922, + -0.31251734495162964, + 0.7702885866165161 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.244667649269104, + -0.060461293905973434, + 0.0758398100733757, + 2.8255503177642822, + -0.26888537406921387, + 0.7702648639678955 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23114413022994995, + -0.05936631187796593, + 0.06360900402069092, + 2.85278582572937, + -0.23062486946582794, + 0.7722043395042419 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 132, + 372, + 393, + 593 + ], + "saucepan": [ + 540, + 588, + 803, + 882 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21640124917030334, + -0.06057539954781532, + 0.048413533717393875, + 2.8520631790161133, + -0.18324236571788788, + 0.7889770865440369 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "saucepan": [ + 559, + 585, + 802, + 883 + ], + "blue knife": [ + 615, + 548, + 741, + 640 + ], + "wooden cabinet": [ + 2, + 9, + 216, + 529 + ], + "purple cloth": [ + 133, + 372, + 391, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2112506926059723, + -0.06960190832614899, + 0.033848218619823456, + 2.873755693435669, + -0.15161484479904175, + 0.7634750008583069 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20803703367710114, + -0.07563889771699905, + 0.01938907615840435, + 2.9160544872283936, + -0.13868574798107147, + 0.7577394247055054 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.216674342751503, + -0.08016537874937057, + 0.016524355858564377, + 2.915584087371826, + -0.1399763822555542, + 0.7691536545753479 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22341617941856384, + -0.08677472174167633, + 0.011352777481079102, + 2.9272713661193848, + -0.1481071412563324, + 0.7743901014328003 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22952400147914886, + -0.08955696225166321, + 0.009021898731589317, + 2.9344310760498047, + -0.15690965950489044, + 0.7675743103027344 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23109859228134155, + -0.08903274685144424, + 0.004378149751573801, + 2.9487669467926025, + -0.15414655208587646, + 0.7747984528541565 + ], + "gripper_value": 0.9375205039978027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2319832742214203, + -0.08676452934741974, + 0.0021321556996554136, + 2.9637742042541504, + -0.16690637171268463, + 0.7655823230743408 + ], + "gripper_value": 0.6209517121315002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 4 cm, keep gripper closed; then move back 2 cm, move left 9 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23539410531520844, + -0.08627976477146149, + 0.002547644078731537, + 2.963955879211426, + -0.18024751543998718, + 0.762907862663269 + ], + "gripper_value": 0.316539466381073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper closed; then move back 3 cm, move left 12 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23739905655384064, + -0.08634235709905624, + 0.003307684790343046, + 2.9667305946350098, + -0.18451251089572906, + 0.761802077293396 + ], + "gripper_value": 0.1302075982093811 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the silver pot on the stove and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move left 15 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23739905655384064, + -0.08634235709905624, + 0.003307684790343046, + 2.966449022293091, + -0.18424542248249054, + 0.7633386850357056 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move left 17 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2369832545518875, + -0.08652414381504059, + 0.0032008832786232233, + 2.9670796394348145, + -0.18108339607715607, + 0.7653853893280029 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper closed; then move back 5 cm, move left 17 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2362334281206131, + -0.08576235920190811, + 0.0029772459529340267, + 2.9740538597106934, + -0.179711252450943, + 0.7600676417350769 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper closed; then move back 6 cm, move left 18 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23126184940338135, + -0.0810365080833435, + 0.006685739383101463, + 3.0194225311279297, + -0.17855574190616608, + 0.7337849140167236 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move back 6 cm, move left 18 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23781122267246246, + -0.07657696306705475, + 0.03819676861166954, + 2.9398837089538574, + -0.2347399890422821, + 0.7558907270431519 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 18 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2310415804386139, + -0.0541386641561985, + 0.056791484355926514, + 2.893918752670288, + -0.24411697685718536, + 0.8177695870399475 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 16 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22359809279441833, + -0.024510715156793594, + 0.06896407157182693, + 2.8680708408355713, + -0.252925306558609, + 0.8768670558929443 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue knife": [ + 667, + 577, + 785, + 703 + ], + "purple cloth": [ + 132, + 373, + 360, + 597 + ], + "wooden cabinet": [ + 2, + 16, + 269, + 537 + ], + "saucepan": [ + 465, + 386, + 709, + 692 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21559220552444458, + 0.012439281679689884, + 0.07486924529075623, + 2.845189332962036, + -0.25730100274086, + 0.9597831964492798 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden cabinet": [ + 2, + 25, + 209, + 534 + ], + "purple cloth": [ + 130, + 402, + 308, + 594 + ], + "saucepan": [ + 356, + 346, + 603, + 631 + ], + "sink": [ + 738, + 650, + 991, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20769988000392914, + 0.04517083615064621, + 0.07216118276119232, + 2.84663987159729, + -0.25277605652809143, + 1.0277743339538574 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2012607306241989, + 0.07207942008972168, + 0.06677058339118958, + 2.8511126041412354, + -0.2682478725910187, + 1.0851527452468872 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot has grasped the silver pot and is currently lifting it slightly above the stove surface. The gripper is closed and holding the pot securely, with minimal motion indicating stabilization before repositioning. The next action is to move the pot leftward toward the lower left side of the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.1950133889913559, + 0.09068618714809418, + 0.055332425981760025, + 2.8843114376068115, + -0.26802781224250793, + 1.1273099184036255 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.18440276384353638, + 0.09640813618898392, + 0.0372246578335762, + 2.924025297164917, + -0.24135981500148773, + 1.1465526819229126 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.17861710488796234, + 0.10394026339054108, + 0.027296628803014755, + 2.943617582321167, + -0.24453620612621307, + 1.1870511770248413 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.17692755162715912, + 0.10615120083093643, + 0.020252149552106857, + 2.9570505619049072, + -0.24262714385986328, + 1.2023879289627075 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.17377717792987823, + 0.10654854029417038, + 0.013366978615522385, + 2.976182460784912, + -0.23417940735816956, + 1.2094712257385254 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.16969884932041168, + 0.10899796336889267, + 0.011710671707987785, + 2.9857335090637207, + -0.24512241780757904, + 1.2476242780685425 + ], + "gripper_value": 0.08819076418876648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.1681121289730072, + 0.11005275696516037, + 0.009044362232089043, + 2.9925618171691895, + -0.23659779131412506, + 1.2876068353652954 + ], + "gripper_value": 0.2638187110424042 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 137, + 373, + 388, + 564 + ], + "green spoon": [ + 389, + 474, + 469, + 583 + ], + "saucepan": [ + 25, + 495, + 246, + 752 + ], + "blue knife": [ + 531, + 501, + 782, + 702 + ], + "sink": [ + 738, + 651, + 993, + 992 + ], + "toy stove": [ + 139, + 456, + 694, + 969 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "slide pot to target zone", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.166122168302536, + 0.11062772572040558, + 0.008752659894526005, + 3.002412796020508, + -0.2345893234014511, + 1.3067585229873657 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.16603046655654907, + 0.11059996485710144, + 0.009006267413496971, + 3.003302812576294, + -0.22980576753616333, + 1.317198395729065 + ], + "gripper_value": 0.8289023637771606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.1661328375339508, + 0.11031457781791687, + 0.013463692739605904, + 2.992774486541748, + -0.23289687931537628, + 1.331115961074829 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The robot is holding the silver pot above the left burner, having completed the approach and grasp phases. The current subtask involves sliding the pot into the target zone on the lower left side of the burner. The next action should be to carefully lower and slide the pot into position while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.1656997799873352, + 0.10735990107059479, + 0.023596836254000664, + 2.974057674407959, + -0.2378988265991211, + 1.3255891799926758 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The silver pot is positioned on the lower left side of the left burner, matching the target location. The gripper is open (value ~1.0), indicating the pot has been released. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.16550315916538239, + 0.10155381262302399, + 0.03593119606375694, + 2.951352596282959, + -0.23752984404563904, + 1.3162370920181274 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The silver pot is positioned on the lower left side of the left burner, matching the target location. The gripper is open (value ~1.0), indicating the pot has been released. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.16788984835147858, + 0.09641297161579132, + 0.059759464114904404, + 2.905080556869507, + -0.2517426609992981, + 1.2774274349212646 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The silver pot is positioned on the lower left side of the left burner, matching the target location. The gripper is open (value ~1.0), indicating the pot has been released. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.17018179595470428, + 0.09773904085159302, + 0.0634462758898735, + 2.898519515991211, + -0.2647804021835327, + 1.2675509452819824 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left side of the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "slide pot to target zone" + }, + { + "id": 5, + "subtask": "release pot at target" + } + ], + "subtask_name": "release pot at target", + "subtask_reasoning": "The silver pot is positioned on the lower left side of the left burner, matching the target location. The gripper is open (value ~1.0), indicating the pot has been released. The subtask is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000715_ecot.json b/cot/chunk-0000/episode_0000715_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9737e68490272eb0a2f8dc5a2b1ea014ff4be890 --- /dev/null +++ b/cot/chunk-0000/episode_0000715_ecot.json @@ -0,0 +1,2821 @@ +{ + "task_name": "episode_0000715", + "episode_json": "json/chunk-0000/episode_0000715.json", + "video_path": "videos/chunk-0000/image_0/episode_0000715.mp4", + "instruction": "Put the object in the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000715.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.15456753969192505, + "std": 0.06714420765638351, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.15457, std=0.06714, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 22 + ], + [ + 3, + 23, + 29 + ], + [ + 4, + 30, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer area\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the open drawer while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"reposition above target object\", \"start\": 14, \"end\": 22, \"planning\": \"Adjust position and orientation to align with the orange object beside the drawer, still without grasping.\"},\n {\"id\": 3, \"name\": \"grasp orange object\", \"start\": 23, \"end\": 29, \"planning\": \"Close gripper to securely grasp the orange object as confirmed by gripper signal drop and visual alignment.\"},\n {\"id\": 4, \"name\": \"place object in drawer and release\", \"start\": 30, \"end\": 44, \"planning\": \"Move grasped object into drawer cavity, then open gripper to release it inside before retreating slightly.\"}\n ],\n \"global_plan\": \"Approach the drawer area, reposition above the target object, grasp it using confirmed gripper closure, then place it inside the drawer and release.\",\n \"notes\": \"Gripper evidence confirms no grasp in segments 1–2; grasp is only valid from frame 23 onward based on segment-level gripper delta and image consistency. Placement occurs in segment 4 with gripper reopening at end.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer area", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the open drawer while maintaining open gripper state." + }, + { + "id": 2, + "name": "reposition above target object", + "start": 14, + "end": 22, + "planning": "Adjust position and orientation to align with the orange object beside the drawer, still without grasping." + }, + { + "id": 3, + "name": "grasp orange object", + "start": 23, + "end": 29, + "planning": "Close gripper to securely grasp the orange object as confirmed by gripper signal drop and visual alignment." + }, + { + "id": 4, + "name": "place object in drawer and release", + "start": 30, + "end": 44, + "planning": "Move grasped object into drawer cavity, then open gripper to release it inside before retreating slightly." + } + ], + "global_plan": "Approach the drawer area, reposition above the target object, grasp it using confirmed gripper closure, then place it inside the drawer and release.", + "notes": "Gripper evidence confirms no grasp in segments 1–2; grasp is only valid from frame 23 onward based on segment-level gripper delta and image consistency. Placement occurs in segment 4 with gripper reopening at end." + } + }, + "episode_goal": "Place the orange star-shaped object into the open drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.133030503988266, + -0.008815924637019634, + 0.1304878294467926, + -2.9956653118133545, + 0.009536967612802982, + 0.020134782418608665 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 20 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1314329355955124, + -0.0076211863197386265, + 0.12907801568508148, + -2.994675874710083, + 0.015566588379442692, + 0.015660958364605904 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 22 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.12955795228481293, + 0.018337665125727654, + 0.13638117909431458, + -3.006209135055542, + -0.024978306144475937, + 0.08739020675420761 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 21 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.12504318356513977, + 0.04796656221151352, + 0.14078983664512634, + -3.038250207901001, + -0.03557209670543671, + 0.15148773789405823 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 244, + 291, + 377, + 473 + ], + "blue cloth": [ + 390, + 319, + 627, + 558 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 19 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.12481857091188431, + 0.07227189093828201, + 0.14275449514389038, + -3.0703928470611572, + -0.02713526040315628, + 0.19167686998844147 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 17 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.12761856615543365, + 0.10276031494140625, + 0.13795499503612518, + -3.08652400970459, + 0.001857689581811428, + 0.18894842267036438 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the left. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 14 cm, move down 7 cm, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.13737265765666962, + 0.12394282221794128, + 0.12952762842178345, + -3.066540241241455, + 0.04053570702672005, + 0.09999728947877884 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 12 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.14819738268852234, + 0.1395583301782608, + 0.1156962662935257, + -3.066990613937378, + 0.0809495598077774, + -0.03540830314159393 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.15550947189331055, + 0.15417787432670593, + 0.10683324933052063, + -3.0227255821228027, + 0.056330349296331406, + -0.05074961856007576 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.16108794510364532, + 0.16673263907432556, + 0.10112955421209335, + -2.9882214069366455, + 0.0238691084086895, + -0.07837407290935516 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.15895241498947144, + 0.19033490121364594, + 0.08535083383321762, + -3.013538360595703, + -0.002434289315715432, + -0.07241914421319962 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 245, + 291, + 377, + 472 + ], + "yellow sponge": [ + 72, + 212, + 198, + 366 + ], + "blue cloth": [ + 391, + 318, + 628, + 557 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.16563299298286438, + 0.21110543608665466, + 0.07951171696186066, + -3.0225367546081543, + -0.062353722751140594, + -0.01796673610806465 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.17581722140312195, + 0.22396090626716614, + 0.07685775309801102, + -3.0376086235046387, + -0.0933331772685051, + 0.047506559640169144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.18089860677719116, + 0.23908136785030365, + 0.0752047523856163, + -3.0856516361236572, + -0.13156603276729584, + 0.14619305729866028 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "approach drawer area", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.18767587840557098, + 0.24364036321640015, + 0.07014119625091553, + 3.1274478435516357, + -0.14235155284404755, + 0.19262675940990448 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 4 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19122691452503204, + 0.2445855587720871, + 0.06426990032196045, + 3.0880186557769775, + -0.14867815375328064, + 0.23190252482891083 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 4 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19288994371891022, + 0.2437599152326584, + 0.06295087933540344, + 3.0855555534362793, + -0.15277329087257385, + 0.2528640329837799 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open; then move back 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.19766129553318024, + 0.23604923486709595, + 0.0585402250289917, + 3.0827715396881104, + -0.15151581168174744, + 0.25716879963874817 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned near the open drawer with the orange star-shaped object visible on the table to the left. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end-effector closer to the target object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20438767969608307, + 0.2313164919614792, + 0.056408267468214035, + 3.093627452850342, + -0.15210364758968353, + 0.25534266233444214 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move right 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21131642162799835, + 0.22616539895534515, + 0.05037659406661987, + 3.102302312850952, + -0.1438760906457901, + 0.24675840139389038 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper open; then move back 3 cm, move right 3 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21635079383850098, + 0.22349439561367035, + 0.0447574146091938, + 3.105504274368286, + -0.13636259734630585, + 0.255729079246521 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 4 cm, move right 4 cm, move up 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2193720042705536, + 0.22437290847301483, + 0.03817228227853775, + 3.1227574348449707, + -0.13008494675159454, + 0.25939905643463135 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 4 cm, move right 4 cm, move up 6 cm, close gripper; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2215830683708191, + 0.2257525473833084, + 0.031129902228713036, + 3.1401658058166504, + -0.12323278188705444, + 0.26280495524406433 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "reposition above target object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move right 4 cm, move up 6 cm, close gripper; then move back 1 cm, move right 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22633415460586548, + 0.2260446548461914, + 0.026332296431064606, + -3.116377592086792, + -0.12615366280078888, + 0.2538873553276062 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 6 cm, close gripper; then move right 8 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2231614738702774, + 0.22710604965686798, + 0.013741047121584415, + -3.1000077724456787, + -0.10600850731134415, + 0.25778406858444214 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 244, + 292, + 377, + 474 + ], + "black toy figure": [ + 3, + 99, + 158, + 550 + ], + "yellow sponge": [ + 77, + 211, + 199, + 365 + ], + "blue cloth": [ + 390, + 319, + 628, + 557 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 11 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22212813794612885, + 0.2304920107126236, + 0.00774476770311594, + -3.0833981037139893, + -0.10465159267187119, + 0.2718145251274109 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper remains open with no closing evidence, indicating the object has not yet been grasped. The next action should involve lowering the gripper to make contact with the object for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 13 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2204182893037796, + 0.23070314526557922, + 0.005639773327857256, + -3.0731394290924072, + -0.11123297363519669, + 0.29616373777389526 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, move right 14 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21705083549022675, + 0.2251598834991455, + 0.006730775814503431, + -3.0901036262512207, + -0.12388626486063004, + 0.3231256902217865 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 8 cm, keep gripper closed; then move forward 8 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.20868661999702454, + 0.21065427362918854, + 0.021182693541049957, + -3.118539333343506, + -0.11943011730909348, + 0.30785512924194336 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move right 17 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.20102199912071228, + 0.19771786034107208, + 0.0572696216404438, + -3.1257405281066895, + -0.16401465237140656, + 0.2833143472671509 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move forward 9 cm, move right 18 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.19007046520709991, + 0.1888333559036255, + 0.090318962931633, + 3.132030487060547, + -0.20678649842739105, + 0.29305803775787354 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 19 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.18374714255332947, + 0.1719784438610077, + 0.11417265981435776, + 3.0934722423553467, + -0.2300977110862732, + 0.2814043164253235 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 18 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.18391406536102295, + 0.13929134607315063, + 0.13198304176330566, + 3.0955095291137695, + -0.22738061845302582, + 0.26325374841690063 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.19326332211494446, + 0.10925339162349701, + 0.1353839635848999, + 3.0577869415283203, + -0.18874597549438477, + 0.2666284441947937 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 10 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.20940643548965454, + 0.07901906222105026, + 0.12844228744506836, + 3.060814619064331, + -0.14841210842132568, + 0.24257658421993256 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2288176566362381, + 0.055746737867593765, + 0.11458209902048111, + 3.05019211769104, + -0.09431743621826172, + 0.22641125321388245 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 390, + 318, + 631, + 558 + ], + "toy oven drawer": [ + 297, + 266, + 664, + 784 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24895688891410828, + 0.04466262459754944, + 0.10188843309879303, + 3.0223891735076904, + -0.0726379007101059, + 0.231319397687912 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 388, + 321, + 630, + 558 + ], + "black toy figure": [ + 169, + 8, + 454, + 459 + ], + "yellow sponge": [ + 72, + 212, + 199, + 367 + ], + "toy oven drawer": [ + 290, + 337, + 662, + 793 + ], + "toy kitchen unit": [ + 156, + 24, + 797, + 874 + ] + } + } + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is positioned above the orange star-shaped object near the open drawer. The gripper has closed significantly (delta=-0.14545), indicating a grasp attempt. The next action is to confirm object contact and lift the object for placement into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2653407156467438, + 0.034126393496990204, + 0.10059446096420288, + 3.0242292881011963, + -0.08275380730628967, + 0.21705199778079987 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.27783337235450745, + 0.01848100684583187, + 0.10509011894464493, + 3.008725643157959, + -0.1004573404788971, + 0.2035796046257019 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.27958667278289795, + 0.00393417663872242, + 0.10623205453157425, + 2.988703489303589, + -0.09990953654050827, + 0.18584813177585602 + ], + "gripper_value": 0.8553624749183655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.28135573863983154, + -0.0037639557849615812, + 0.1067165657877922, + 2.992560863494873, + -0.11058920621871948, + 0.17606587707996368 + ], + "gripper_value": 0.9116221070289612 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.278752863407135, + -0.0032195292878896, + 0.10225843638181686, + 3.000824213027954, + -0.11762601882219315, + 0.16093435883522034 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713176906108856, + -0.0008746066014282405, + 0.10591334104537964, + 3.004009246826172, + -0.15174321830272675, + 0.1566808819770813 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572731375694275, + 0.012234371155500412, + 0.11327744275331497, + 3.02028489112854, + -0.16823935508728027, + 0.16927684843540192 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.23723873496055603, + 0.020234497264027596, + 0.12920810282230377, + 3.052129030227661, + -0.18829137086868286, + 0.1690690517425537 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange star-shaped object into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer area" + }, + { + "id": 2, + "subtask": "reposition above target object" + }, + { + "id": 3, + "subtask": "grasp orange object" + }, + { + "id": 4, + "subtask": "place object in drawer and release" + } + ], + "subtask_name": "place object in drawer and release", + "subtask_reasoning": "The robot is holding the orange star-shaped object above the open drawer, having completed the approach and grasp phases. The gripper remains closed with no motion in the local window, indicating the object is secured. The next action is to lower the object into the drawer and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000716_ecot.json b/cot/chunk-0000/episode_0000716_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..04483735d2a75237402be7156abc08a30d307113 --- /dev/null +++ b/cot/chunk-0000/episode_0000716_ecot.json @@ -0,0 +1,953 @@ +{ + "task_name": "episode_0000716", + "episode_json": "json/chunk-0000/episode_0000716.json", + "video_path": "videos/chunk-0000/image_0/episode_0000716.mp4", + "instruction": "Turn faucet front to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000716.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.5718512535095215, + "std": 0.26879680156707764, + "delta_total": -0.5718512535095215, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.57185, std=0.26880, total_delta=-0.57185). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach faucet handle\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the faucet handle while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"grasp faucet handle\", \"start\": 8, \"end\": 9, \"planning\": \"Close gripper around faucet handle as evidenced by significant gripper value drop and image consistency.\"},\n {\"id\": 3, \"name\": \"rotate faucet left\", \"start\": 10, \"end\": 14, \"planning\": \"Apply rotational motion to turn faucet handle leftward while maintaining grip, confirmed by sustained low gripper value and orientation change.\"}\n ],\n \"global_plan\": \"Approach the faucet handle, grasp it securely, then rotate it leftward to complete the task.\",\n \"notes\": \"Gripper closure is validated in segment 1 (frames 8-9) and maintained through segment 2; motion and gripper data align with grasping and rotating actions. No hallucinated lifting or placing — only contact-based manipulation observed.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach faucet handle", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the faucet handle while maintaining open gripper state." + }, + { + "id": 2, + "name": "grasp faucet handle", + "start": 8, + "end": 9, + "planning": "Close gripper around faucet handle as evidenced by significant gripper value drop and image consistency." + }, + { + "id": 3, + "name": "rotate faucet left", + "start": 10, + "end": 14, + "planning": "Apply rotational motion to turn faucet handle leftward while maintaining grip, confirmed by sustained low gripper value and orientation change." + } + ], + "global_plan": "Approach the faucet handle, grasp it securely, then rotate it leftward to complete the task.", + "notes": "Gripper closure is validated in segment 1 (frames 8-9) and maintained through segment 2; motion and gripper data align with grasping and rotating actions. No hallucinated lifting or placing — only contact-based manipulation observed." + } + }, + "episode_goal": "Turn the faucet handle to the left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32367753982543945, + 0.03467555344104767, + 0.12073785811662674, + -3.0160281658172607, + -0.14627432823181152, + 0.12525232136249542 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the kitchen sink, with the faucet handle visible in the upper right. The gripper is open and has not yet made contact with the handle. The next action is to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233782649040222, + 0.032660141587257385, + 0.10149375349283218, + -3.016540765762329, + -0.16928355395793915, + 0.10960263013839722 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the kitchen sink, with the faucet handle visible in the upper right. The gripper is open and has not yet made contact with the handle. The next action is to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, tilt back 20 degrees, close gripper; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300570547580719, + 0.03246656805276871, + 0.09148883819580078, + -3.0071682929992676, + -0.2598493993282318, + 0.09157826006412506 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 225, + 297, + 809, + 833 + ], + "frying pan": [ + 65, + 1, + 239, + 105 + ], + "cucumber": [ + 135, + 225, + 292, + 365 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned above the kitchen sink, with the faucet handle visible in the upper right. The gripper is open and has not yet made contact with the handle. The next action is to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, close gripper; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34261420369148254, + 0.03415917605161667, + 0.09626522660255432, + -2.973043203353882, + -0.34544986486434937, + 0.0766577199101448 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the kitchen sink, approaching the faucet handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34895414113998413, + 0.037872977554798126, + 0.09982110559940338, + -2.9427924156188965, + -0.3882991075515747, + 0.0590590201318264 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the kitchen sink, approaching the faucet handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35718798637390137, + 0.03972309082746506, + 0.10883558541536331, + -2.905769109725952, + -0.42642608284950256, + 0.035191044211387634 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the kitchen sink, approaching the faucet handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36539340019226074, + 0.042293768376111984, + 0.11839552223682404, + -2.863827705383301, + -0.46365171670913696, + 0.0026360643096268177 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the kitchen sink, approaching the faucet handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, close gripper; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37315189838409424, + 0.04924039915204048, + 0.12278956919908524, + -2.8505451679229736, + -0.5111104846000671, + -0.011272219009697437 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the kitchen sink, approaching the faucet handle from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the faucet handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3790740668773651, + 0.05715759098529816, + 0.12097906321287155, + -2.8324732780456543, + -0.5381322503089905, + -0.027496205642819405 + ], + "gripper_value": 0.806471049785614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "grasp faucet handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now positioned directly in front of it. The gripper is open and ready to close around the handle. The next action is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3850055932998657, + 0.06744340807199478, + 0.12251776456832886, + -2.8280696868896484, + -0.5824140310287476, + -0.0322699137032032 + ], + "gripper_value": 0.49661046266555786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "grasp faucet handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now positioned directly in front of it. The gripper is open and ready to close around the handle. The next action is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.38978809118270874, + 0.08066701889038086, + 0.12059043347835541, + -2.838728427886963, + -0.6254010200500488, + -0.049393925815820694 + ], + "gripper_value": 0.43473443388938904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached the faucet handle and is now positioned directly in front of it. The gripper is open and ready to close around the handle. The next action is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39689913392066956, + 0.09104491770267487, + 0.11789891123771667, + -2.8199124336242676, + -0.644920289516449, + -0.09818749874830246 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot has approached the faucet handle and is now positioned directly in front of it. The gripper is open and ready to close around the handle. The next action is to close the gripper to securely grasp the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056693911552429, + 0.09973348677158356, + 0.11626183241605759, + -2.791706085205078, + -0.6717020869255066, + -0.15027253329753876 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 225, + 298, + 810, + 833 + ], + "cucumber": [ + 135, + 225, + 292, + 365 + ], + "faucet": [ + 545, + 10, + 754, + 370 + ], + "yellow food item": [ + 771, + 195, + 891, + 333 + ], + "orange bell pepper": [ + 353, + 448, + 469, + 577 + ], + "purple onion": [ + 938, + 284, + 997, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot's end-effector is positioned at the faucet handle, having already completed the approach and grasp phases. The gripper signal remains stable, indicating a maintained hold rather than a new grasp. The immediate next action is to apply rotational force to turn the handle to the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4121183753013611, + 0.10813590884208679, + 0.11285041272640228, + -2.7830886840820312, + -0.7074829936027527, + -0.17385701835155487 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot's end-effector is positioned at the faucet handle, having already completed the approach and grasp phases. The gripper signal remains stable, indicating a maintained hold rather than a new grasp. The immediate next action is to apply rotational force to turn the handle to the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42037874460220337, + 0.11290589720010757, + 0.10916189849376678, + -2.758469581604004, + -0.7329843044281006, + -0.22816087305545807 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "grasp faucet handle" + }, + { + "id": 3, + "subtask": "rotate faucet left" + } + ], + "subtask_name": "rotate faucet left", + "subtask_reasoning": "The robot's end-effector is positioned at the faucet handle, having already completed the approach and grasp phases. The gripper signal remains stable, indicating a maintained hold rather than a new grasp. The immediate next action is to apply rotational force to turn the handle to the left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000717_ecot.json b/cot/chunk-0000/episode_0000717_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0cee9a38d5001eec44507824de8754df33fa05cd --- /dev/null +++ b/cot/chunk-0000/episode_0000717_ecot.json @@ -0,0 +1,4375 @@ +{ + "task_name": "episode_0000717", + "episode_json": "json/chunk-0000/episode_0000717.json", + "video_path": "videos/chunk-0000/image_0/episode_0000717.mp4", + "instruction": "Put pan on stove and put blueberry in pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 66, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000717.json" + }, + "fps": 5.0, + "T_eff": 66, + "gripper_behavior_summary": { + "available": true, + "range": 0.961553692817688, + "std": 0.3894420564174652, + "delta_total": -0.0006405115127563477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96155, std=0.38944, total_delta=-0.00064). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 7, + 7, + 7, + 7, + 7, + 26, + 26, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226, + 226 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 20 + ], + [ + 3, + 21, + 25 + ], + [ + 4, + 26, + 27 + ], + [ + 5, + 28, + 65 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper down toward the pan handle while closing fingers to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift pan\", \"start\": 7, \"end\": 20, \"planning\": \"Secure grip on pan handle, lift pan slightly, and reposition it over the left stove burner.\"},\n {\"id\": 3, \"name\": \"place pan on stove\", \"start\": 21, \"end\": 27, \"planning\": \"Lower pan onto left burner and release grip to complete placement.\"},\n {\"id\": 4, \"name\": \"retract and reposition\", \"start\": 28, \"end\": 46, \"planning\": \"Retract gripper from pan, move toward blueberries, and prepare to pick one up.\"},\n {\"id\": 5, \"name\": \"pick and drop blueberry\", \"start\": 47, \"end\": 65, \"planning\": \"Grasp a blueberry, lift it, and drop it into the pan on the stove.\"}\n ],\n \"global_plan\": \"First, grasp and reposition the pan onto the left stove burner. Then, retract, pick up a blueberry, and drop it into the pan.\",\n \"notes\": \"Segment 1 shows gripper closing during approach (frames 0-6), enabling 'grasp' wording in Segment 2. Segment 3 (21-25) is merged with Segment 4 (26-27) as continuous placement phase. Segment 5 split at frame 46 based on motion shift from retraction to blueberry interaction.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 6, + "planning": "Move gripper down toward the pan handle while closing fingers to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift pan", + "start": 7, + "end": 20, + "planning": "Secure grip on pan handle, lift pan slightly, and reposition it over the left stove burner." + }, + { + "id": 3, + "name": "place pan on stove", + "start": 21, + "end": 27, + "planning": "Lower pan onto left burner and release grip to complete placement." + }, + { + "id": 4, + "name": "retract and reposition", + "start": 28, + "end": 46, + "planning": "Retract gripper from pan, move toward blueberries, and prepare to pick one up." + }, + { + "id": 5, + "name": "pick and drop blueberry", + "start": 47, + "end": 65, + "planning": "Grasp a blueberry, lift it, and drop it into the pan on the stove." + } + ], + "global_plan": "First, grasp and reposition the pan onto the left stove burner. Then, retract, pick up a blueberry, and drop it into the pan.", + "notes": "Segment 1 shows gripper closing during approach (frames 0-6), enabling 'grasp' wording in Segment 2. Segment 3 (21-25) is merged with Segment 4 (26-27) as continuous placement phase. Segment 5 split at frame 46 based on motion shift from retraction to blueberry interaction." + } + }, + "episode_goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450803756713867, + -0.026279961690306664, + 0.1160687506198883, + -3.1007394790649414, + -0.12646442651748657, + -0.08847739547491074 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan already on the front-right burner. The blueberries are visible on the counter to the left. Since the subtask is 'approach pan' and no grasping has occurred yet, the next action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 8 cm, close gripper; then move back 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418588936328888, + -0.026216987520456314, + 0.10359703004360199, + -3.102224111557007, + -0.09275969117879868, + -0.08661904186010361 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan already on the front-right burner. The blueberries are visible on the counter to the left. Since the subtask is 'approach pan' and no grasping has occurred yet, the next action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34465184807777405, + -0.025768212974071503, + 0.08517526090145111, + -3.0973880290985107, + -0.11888344585895538, + -0.0913727805018425 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan already on the front-right burner. The blueberries are visible on the counter to the left. Since the subtask is 'approach pan' and no grasping has occurred yet, the next action is to move the end-effector closer to the pan for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move back 3 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34728071093559265, + -0.0292904544621706, + 0.06267408281564713, + -3.1166927814483643, + -0.15349988639354706, + -0.1003509908914566 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 2 cm, move left 2 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34789252281188965, + -0.027318209409713745, + 0.05044068023562431, + -3.12068247795105, + -0.19299980998039246, + -0.10839764773845673 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35038188099861145, + -0.025305377319455147, + 0.03909851983189583, + -3.133800745010376, + -0.20847788453102112, + -0.10972782969474792 + ], + "gripper_value": 0.9583302736282349 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 8 cm, move up 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3493916094303131, + -0.025862671434879303, + 0.038905028253793716, + -3.1410927772521973, + -0.20264485478401184, + -0.10954601317644119 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 10 cm, move up 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492071330547333, + -0.025332055985927582, + 0.04072544723749161, + -3.140897750854492, + -0.19498461484909058, + -0.1112065240740776 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454864025115967, + -0.024238217622041702, + 0.04062436521053314, + -3.138313055038452, + -0.16412054002285004, + -0.10263669490814209 + ], + "gripper_value": 0.15718480944633484 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 627, + 266, + 884, + 557 + ], + "gas stove": [ + 199, + 170, + 967, + 920 + ], + "blue object": [ + 241, + 356, + 351, + 485 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move up 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3421064615249634, + -0.024651797488331795, + 0.04409429803490639, + -3.131483793258667, + -0.12713275849819183, + -0.09976119548082352 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303358852863312, + -0.022061020135879517, + 0.0661376342177391, + -3.099815845489502, + -0.06389451771974564, + -0.11145078390836716 + ], + "gripper_value": 0.061804234981536865 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32155296206474304, + -0.02171448804438114, + 0.09217795729637146, + -3.063610076904297, + -0.02190183848142624, + -0.09863895177841187 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32126477360725403, + -0.01959700882434845, + 0.11143266409635544, + -3.0503089427948, + -0.002604197710752487, + -0.1100224107503891 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot is positioned above the stove with the silver pan already on the front-right burner, while the blueberries remain in the drawer to the left. The current subtask involves approaching the pan, but since the pan is already placed, the next logical step is to retract and move towards the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32745227217674255, + -0.0017440096708014607, + 0.12332838773727417, + -3.062640905380249, + -0.005414645187556744, + -0.1614668071269989 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move down 6 cm, tilt back 10 degrees, keep gripper closed; then move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33890199661254883, + 0.02482442744076252, + 0.13876546919345856, + -3.0623128414154053, + -0.03813963755965233, + -0.1980421543121338 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 7 cm, keep gripper closed; then move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34666699171066284, + 0.052162788808345795, + 0.13506504893302917, + -3.067016124725342, + -0.02196635492146015, + -0.23363621532917023 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 446, + 7, + 723, + 286 + ], + "gas stove": [ + 207, + 193, + 964, + 921 + ], + "blue object": [ + 241, + 355, + 352, + 486 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 7 cm, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35486337542533875, + 0.07356920093297958, + 0.1307326853275299, + -3.081052303314209, + -0.027757039293646812, + -0.25352632999420166 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589233458042145, + 0.0840398520231247, + 0.1185789629817009, + -3.1011786460876465, + -0.0395585373044014, + -0.25727030634880066 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, keep gripper closed; then move up 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3637158274650574, + 0.09195578843355179, + 0.10636964440345764, + -3.1171514987945557, + -0.07069000601768494, + -0.25425955653190613 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, keep gripper closed; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36122819781303406, + 0.09571203589439392, + 0.09239651262760162, + -3.127661943435669, + -0.08406168222427368, + -0.2464606761932373 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper closed; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35701361298561096, + 0.0955558642745018, + 0.07659507542848587, + -3.1390717029571533, + -0.0959121361374855, + -0.23145601153373718 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 378, + 88, + 626, + 371 + ], + "gas stove": [ + 207, + 217, + 963, + 921 + ], + "blue object": [ + 241, + 355, + 351, + 485 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. The gripper is closed, securing the pan for transport. The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3544731140136719, + 0.09481602162122726, + 0.06581465899944305, + 3.1351945400238037, + -0.10407435148954391, + -0.2147393375635147 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "place pan on stove", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. 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The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533826768398285, + 0.09546666592359543, + 0.05149420350790024, + 3.1171860694885254, + -0.10997627675533295, + -0.20761290192604065 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "place pan on stove", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. 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The next action is to lower the pan onto the front-left burner to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558213710784912, + 0.09632451832294464, + 0.048939790576696396, + 3.113992929458618, + -0.13704024255275726, + -0.21301887929439545 + ], + "gripper_value": 0.07526680082082748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "place pan on stove", + "subtask_reasoning": "The robot has successfully grasped the silver pan and is currently holding it suspended above the stove. 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The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35443317890167236, + 0.09697472304105759, + 0.05643440783023834, + 3.1074795722961426, + -0.10252683609724045, + -0.23120176792144775 + ], + "gripper_value": 0.49949145317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "place pan on stove", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. 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The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open; then move back 5 cm, move left 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539929986000061, + 0.09422286599874496, + 0.0655708760023117, + 3.1055092811584473, + -0.06094702333211899, + -0.2375321239233017 + ], + "gripper_value": 0.8279770016670227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "place pan on stove", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35230115056037903, + 0.09177032113075256, + 0.07495646178722382, + 3.112802267074585, + -0.012552802450954914, + -0.23406606912612915 + ], + "gripper_value": 1.0199549198150635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "place pan on stove", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. 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The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 7 cm, move left 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3503931760787964, + 0.08901087194681168, + 0.09582304954528809, + -3.101459264755249, + 0.008588531985878944, + -0.28941968083381653 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. 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The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 4 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 46 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35223960876464844, + 0.085013747215271, + 0.09880833327770233, + -3.093085527420044, + 0.002785986755043268, + -0.3046281635761261 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. 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The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move down 4 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 46 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35210880637168884, + 0.08555398136377335, + 0.09880833327770233, + -3.093085527420044, + 0.0027859865222126245, + -0.30309417843818665 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. 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The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move down 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 46 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35197713971138, + 0.08609399944543839, + 0.09880833327770233, + -3.093085527420044, + 0.002785986987873912, + -0.3015601933002472 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 46 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3518446683883667, + 0.0866338312625885, + 0.09880833327770233, + -3.093085527420044, + 0.002785986755043268, + -0.30002620816230774 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move down 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 46 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32983139157295227, + 0.09482916444540024, + 0.10522288084030151, + -3.064908027648926, + -0.045629873871803284, + -0.24855740368366241 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. The gripper is closed, indicating a secure grasp during the placement phase. The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 46 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31233730912208557, + 0.10807574540376663, + 0.10570995509624481, + -3.069084644317627, + -0.12121319025754929, + -0.2255055010318756 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. 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The next action is to lower the pan onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 46 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969820201396942, + 0.12106694281101227, + 0.09795984625816345, + -3.0591962337493896, + -0.17754270136356354, + -0.21961958706378937 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 388, + 171, + 625, + 438 + ], + "blue object": [ + 241, + 356, + 351, + 484 + ], + "gas stove": [ + 207, + 174, + 963, + 919 + ], + "burner grates": [ + 621, + 295, + 922, + 618 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The silver pan is currently held by the gripper and positioned directly above the front-left stove burner. 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The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.26351499557495117, + 0.12745487689971924, + 0.03544997423887253, + -3.086308717727661, + -0.21605044603347778, + -0.14202038943767548 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot arm has retracted slightly and is hovering above the stove, with the gripper open. The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683810293674469, + 0.12661749124526978, + 0.05893147736787796, + -3.0514426231384277, + -0.2056083083152771, + -0.14353978633880615 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot arm has retracted slightly and is hovering above the stove, with the gripper open. The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 9 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.2777644395828247, + 0.1213979423046112, + 0.08131813257932663, + -3.0129785537719727, + -0.18632210791110992, + -0.14419613778591156 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot arm has retracted slightly and is hovering above the stove, with the gripper open. The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2881088852882385, + 0.10805025696754456, + 0.09494694322347641, + -3.01403546333313, + -0.17296981811523438, + -0.14534007012844086 + ], + "gripper_value": 0.7998467683792114 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 388, + 172, + 624, + 438 + ], + "blue object": [ + 232, + 196, + 334, + 331 + ], + "gas stove": [ + 216, + 172, + 966, + 921 + ], + "burner grates": [ + 621, + 295, + 925, + 618 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot arm has retracted slightly and is hovering above the stove, with the gripper open. The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 9 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3011283278465271, + 0.0878610610961914, + 0.10810217261314392, + -3.049649238586426, + -0.19106708467006683, + -0.14141085743904114 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot arm has retracted slightly and is hovering above the stove, with the gripper open. The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.310195654630661, + 0.0670359805226326, + 0.11213226616382599, + -3.0763344764709473, + -0.191861093044281, + -0.13453349471092224 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot arm has retracted slightly and is hovering above the stove, with the gripper open. The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.3243790566921234, + 0.04860728979110718, + 0.11125961691141129, + -3.0901153087615967, + -0.1912769377231598, + -0.1456417441368103 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot arm has retracted slightly and is hovering above the stove, with the gripper open. The next action is to move toward the blueberries to pick them up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3358532786369324, + 0.04036218300461769, + 0.10023624449968338, + -3.1077229976654053, + -0.2093280702829361, + -0.15490326285362244 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 390, + 211, + 620, + 437 + ], + "gas stove": [ + 213, + 195, + 965, + 923 + ], + "blue object": [ + 432, + 136, + 531, + 273 + ], + "burner grates": [ + 614, + 300, + 923, + 616 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.34700217843055725, + 0.03745488077402115, + 0.08817664533853531, + -3.1110727787017822, + -0.242890402674675, + -0.16712377965450287 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526289761066437, + 0.037827011197805405, + 0.08543765544891357, + -3.1038455963134766, + -0.26906639337539673, + -0.1851492077112198 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3511509299278259, + 0.03848632797598839, + 0.08507098257541656, + -3.1067347526550293, + -0.26061367988586426, + -0.1870713233947754 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3481954038143158, + 0.03566719591617584, + 0.0992463231086731, + -3.112640619277954, + -0.18788942694664001, + -0.15777899324893951 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.34355950355529785, + 0.029952308163046837, + 0.10882457345724106, + -3.1025161743164062, + -0.12347028404474258, + -0.13058501482009888 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.34026798605918884, + 0.02152816765010357, + 0.11562780290842056, + -3.080785036087036, + -0.11437350511550903, + -0.12894660234451294 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3399810194969177, + 0.016855044290423393, + 0.12148037552833557, + -3.081043243408203, + -0.14294277131557465, + -0.1271393895149231 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.3364754617214203, + 0.01086296048015356, + 0.1188679113984108, + -3.07952880859375, + -0.14065730571746826, + -0.1238664761185646 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.33420729637145996, + 0.008113744668662548, + 0.12370014190673828, + -3.0750436782836914, + -0.1533687859773636, + -0.11746405065059662 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pan on the front-left burner of the stove, then pick up the blueberries and drop them into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp and lift pan" + }, + { + "id": 3, + "subtask": "place pan on stove" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "pick and drop blueberry" + } + ], + "subtask_name": "pick and drop blueberry", + "subtask_reasoning": "The silver pan is already placed on the front-left burner. The robot is currently holding a blueberry directly above the pan, as indicated by the gripper state and visual evidence. The next action is to release the blueberry so it drops into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 65 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 47, + "end": 65 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000718_ecot.json b/cot/chunk-0000/episode_0000718_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8bd9815958a2d6199a4be991d62d7f9a22e74e94 --- /dev/null +++ b/cot/chunk-0000/episode_0000718_ecot.json @@ -0,0 +1,2158 @@ +{ + "task_name": "episode_0000718", + "episode_json": "json/chunk-0000/episode_0000718.json", + "video_path": "videos/chunk-0000/image_0/episode_0000718.mp4", + "instruction": "Move the red object to the center.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000718.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.42672890424728394, + "std": 0.20271418988704681, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42673, std=0.20271, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red object\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the red object while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp red object\", \"start\": 8, \"end\": 9, \"planning\": \"Close the gripper to securely grasp the red object as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"transport red object to center\", \"start\": 10, \"end\": 32, \"planning\": \"Lift and move the grasped red object toward the center of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release red object at center\", \"start\": 33, \"end\": 33, \"planning\": \"Open the gripper to release the red object at the target center location.\"}\n ],\n \"global_plan\": \"Approach the red object, grasp it firmly, transport it to the center of the table, and release it there.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in Segment 1 (frames 0-8) and Segment 2 (frames 9-33), supporting grasp/release wording. Frame 8 shows gripper closing (value drops to 0.666), Frame 9 shows full closure (0.583), and Frame 33 shows full opening (1.000), consistent with grasp-hold-release sequence. Motion data supports lifting and transporting phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red object", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the red object while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp red object", + "start": 8, + "end": 9, + "planning": "Close the gripper to securely grasp the red object as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "transport red object to center", + "start": 10, + "end": 32, + "planning": "Lift and move the grasped red object toward the center of the table while maintaining grip." + }, + { + "id": 4, + "name": "release red object at center", + "start": 33, + "end": 33, + "planning": "Open the gripper to release the red object at the target center location." + } + ], + "global_plan": "Approach the red object, grasp it firmly, transport it to the center of the table, and release it there.", + "notes": "Gripper evidence confirms meaningful closing in Segment 1 (frames 0-8) and Segment 2 (frames 9-33), supporting grasp/release wording. Frame 8 shows gripper closing (value drops to 0.666), Frame 9 shows full closure (0.583), and Frame 33 shows full opening (1.000), consistent with grasp-hold-release sequence. Motion data supports lifting and transporting phases." + } + }, + "episode_goal": "Move the red object to the center.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36792483925819397, + 0.08610710501670837, + 0.05943571776151657, + -3.1146554946899414, + -0.2965373992919922, + -0.349686861038208 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible in the scene. The gripper is open, and no contact has been made yet. The next action should involve moving the arm closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move down 6 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.365302711725235, + 0.08606600016355515, + 0.0445607528090477, + -3.1369638442993164, + -0.2626273036003113, + -0.3360866606235504 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible in the scene. The gripper is open, and no contact has been made yet. The next action should involve moving the arm closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move down 4 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3787500262260437, + 0.07521422952413559, + 0.017874745652079582, + -3.1113882064819336, + -0.22401848435401917, + -0.33396485447883606 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible in the scene. The gripper is open, and no contact has been made yet. The next action should involve moving the arm closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3974618911743164, + 0.05831765756011009, + -0.005541387479752302, + -3.06150484085083, + -0.21304483711719513, + -0.3595066964626312 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 96, + 465, + 808, + 995 + ], + "blue cube": [ + 404, + 582, + 473, + 659 + ], + "brown cylinder": [ + 574, + 783, + 662, + 894 + ], + "white bin": [ + 737, + 649, + 995, + 994 + ], + "white cone": [ + 488, + 620, + 547, + 725 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible nearby. The gripper is open and approaching the red object, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 1 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4126710593700409, + 0.053299251943826675, + -0.01619824394583702, + -3.0432777404785156, + -0.23373347520828247, + -0.36538928747177124 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible nearby. The gripper is open and approaching the red object, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 6 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4256090819835663, + 0.053305722773075104, + -0.016490643844008446, + -3.049243927001953, + -0.2535100281238556, + -0.3386910855770111 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible nearby. The gripper is open and approaching the red object, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, close gripper; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 7 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4352392554283142, + 0.054555732756853104, + -0.016316287219524384, + -3.0486369132995605, + -0.2542891204357147, + -0.32671046257019043 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible nearby. The gripper is open and approaching the red object, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 8 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.445126473903656, + 0.0523577481508255, + -0.009734872728586197, + -3.0701732635498047, + -0.2667805850505829, + -0.3167981505393982 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the table with the red object visible nearby. The gripper is open and approaching the red object, indicating the initial phase of the approach subtask. The next action should involve moving the gripper closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed; then move back 9 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.45051074028015137, + 0.05141306668519974, + -0.0003182443033438176, + -3.1183090209960938, + -0.2872752547264099, + -0.29475659132003784 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 9 cm, move right 3 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4503301978111267, + 0.057606954127550125, + 0.0006683178944513202, + 3.1353888511657715, + -0.3022938668727875, + -0.2649608254432678 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 9 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4440056085586548, + 0.05718884989619255, + -0.001287030871026218, + 3.1145005226135254, + -0.30077534914016724, + -0.26912564039230347 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42785003781318665, + 0.05812351033091545, + 0.007559520658105612, + 3.079866886138916, + -0.29709112644195557, + -0.2676798105239868 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41244012117385864, + 0.0550825260579586, + 0.024734141305088997, + 3.059723138809204, + -0.3244657516479492, + -0.2925477623939514 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 92, + 464, + 808, + 996 + ], + "brown cylinder": [ + 574, + 783, + 662, + 894 + ], + "blue cube": [ + 404, + 581, + 473, + 659 + ], + "red pawn": [ + 566, + 565, + 649, + 724 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39635729789733887, + 0.0482022725045681, + 0.032965049147605896, + 3.041156768798828, + -0.3362041413784027, + -0.3335142433643341 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38152003288269043, + 0.044855281710624695, + 0.03203979507088661, + 3.030940055847168, + -0.3220365345478058, + -0.3587827980518341 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724794387817383, + 0.04145834222435951, + 0.027442902326583862, + 3.0297138690948486, + -0.31183695793151855, + -0.37157800793647766 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36334842443466187, + 0.03563742712140083, + 0.02510717697441578, + 3.028104782104492, + -0.30168619751930237, + -0.3970453143119812 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35512280464172363, + 0.029514556750655174, + 0.026665635406970978, + 3.0364081859588623, + -0.307768851518631, + -0.4244338870048523 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34945008158683777, + 0.022384293377399445, + 0.02057233639061451, + 3.0274975299835205, + -0.30195748805999756, + -0.4374173879623413 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3513793647289276, + 0.02034805901348591, + 0.019236242398619652, + 3.041203260421753, + -0.315447062253952, + -0.4360669255256653 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3551938235759735, + 0.017031311988830566, + 0.01757580041885376, + 3.072273015975952, + -0.336426317691803, + -0.44282713532447815 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot arm is positioned directly above the red object on the wooden table, having completed the approach phase. The gripper is currently open and aligned with the object, ready for interaction. The next immediate action is to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3576746881008148, + 0.01573728770017624, + 0.017448363825678825, + 3.0800929069519043, + -0.34465083479881287, + -0.4312683045864105 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 64, + 460, + 810, + 995 + ], + "blue cube": [ + 404, + 582, + 475, + 659 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575077950954437, + 0.01705860160291195, + 0.011426473036408424, + 3.084660291671753, + -0.33266377449035645, + -0.42500030994415283 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.35906386375427246, + 0.018120869994163513, + 0.010949070565402508, + 3.103982925415039, + -0.3354860842227936, + -0.437907874584198 + ], + "gripper_value": 0.6340072751045227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3579804003238678, + 0.01874438300728798, + 0.007981305941939354, + 3.1039395332336426, + -0.3251686692237854, + -0.4397507905960083 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565780222415924, + 0.017762990668416023, + 0.007763299159705639, + 3.0963497161865234, + -0.3198856711387634, + -0.44542422890663147 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533247113227844, + 0.01480635441839695, + 0.00770894018933177, + 3.0652480125427246, + -0.31300002336502075, + -0.4445461332798004 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35047632455825806, + 0.020361747592687607, + 0.011053933762013912, + 3.038536548614502, + -0.31421419978141785, + -0.4230494797229767 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 65, + 461, + 810, + 995 + ], + "blue cube": [ + 404, + 582, + 475, + 659 + ], + "brown cylinder": [ + 570, + 685, + 671, + 902 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35128819942474365, + 0.02380133420228958, + 0.018240084871649742, + 3.0281529426574707, + -0.3207358717918396, + -0.41576799750328064 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3497347831726074, + 0.030144916847348213, + 0.03012671135365963, + 3.021181583404541, + -0.33530357480049133, + -0.40409138798713684 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3502015471458435, + 0.038450129330158234, + 0.03944908827543259, + 3.013303756713867, + -0.34195297956466675, + -0.39545533061027527 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35356563329696655, + 0.04129024222493172, + 0.0451037660241127, + 3.0087013244628906, + -0.34720122814178467, + -0.39570119976997375 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556973338127136, + 0.04483432695269585, + 0.04856095835566521, + 3.0129520893096924, + -0.34844931960105896, + -0.3957943916320801 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "transport red object to center", + "subtask_reasoning": "The robot is currently holding the red object and transporting it across the table toward the center. The gripper remains closed, confirming a secure grasp during motion. The next action is to continue moving the object until it reaches the central target location for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3590950071811676, + 0.06017043814063072, + 0.07168328016996384, + 3.025219202041626, + -0.39023780822753906, + -0.36173883080482483 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the center." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport red object to center" + }, + { + "id": 4, + "subtask": "release red object at center" + } + ], + "subtask_name": "release red object at center", + "subtask_reasoning": "The robot arm is positioned above the center of the table with the gripper fully open, indicating the red object has already been released. The red object is visible on the table near the center, confirming the release action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 33, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000721_ecot.json b/cot/chunk-0000/episode_0000721_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0c2b4b62a134a958d6129657b4e3581021ebf2ca --- /dev/null +++ b/cot/chunk-0000/episode_0000721_ecot.json @@ -0,0 +1,2851 @@ +{ + "task_name": "episode_0000721", + "episode_json": "json/chunk-0000/episode_0000721.json", + "video_path": "videos/chunk-0000/image_0/episode_0000721.mp4", + "instruction": "Picked yellow rectangular cube and placed on a tower.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000721.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.42620086669921875, + "std": 0.20908716320991516, + "delta_total": -0.3530837297439575, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42620, std=0.20909, total_delta=-0.35308). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 10 + ], + [ + 3, + 11, + 26 + ], + [ + 4, + 27, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow cube\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper from initial position toward the yellow rectangular cube on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp yellow cube\", \"start\": 11, \"end\": 26, \"planning\": \"Close the gripper around the yellow cube and secure it for lifting, as evidenced by gripper value dropping from 1.0 to 0.57.\"},\n {\"id\": 3, \"name\": \"lift and transport yellow cube\", \"start\": 27, \"end\": 35, \"planning\": \"Lift the grasped yellow cube and move it horizontally toward the tower location while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place yellow cube on tower\", \"start\": 36, \"end\": 44, \"planning\": \"Lower the yellow cube onto the tower structure and release the gripper slightly to complete placement, as shown by gripper opening to 0.65.\"}\n ],\n \"global_plan\": \"Approach the yellow rectangular cube, grasp it securely, lift and transport it to the tower, then place it precisely on top of the existing stack.\",\n \"notes\": \"Segment 1 and 2 show no gripper closure — correctly labeled as approach phases. Segment 3 shows meaningful gripper closure (delta=-0.426) consistent with grasping. Segment 4 shows controlled motion and partial gripper release during placement. All frame ranges are contiguous and cover 0–44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow cube", + "start": 0, + "end": 10, + "planning": "Move the gripper from initial position toward the yellow rectangular cube on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp yellow cube", + "start": 11, + "end": 26, + "planning": "Close the gripper around the yellow cube and secure it for lifting, as evidenced by gripper value dropping from 1.0 to 0.57." + }, + { + "id": 3, + "name": "lift and transport yellow cube", + "start": 27, + "end": 35, + "planning": "Lift the grasped yellow cube and move it horizontally toward the tower location while maintaining grip." + }, + { + "id": 4, + "name": "place yellow cube on tower", + "start": 36, + "end": 44, + "planning": "Lower the yellow cube onto the tower structure and release the gripper slightly to complete placement, as shown by gripper opening to 0.65." + } + ], + "global_plan": "Approach the yellow rectangular cube, grasp it securely, lift and transport it to the tower, then place it precisely on top of the existing stack.", + "notes": "Segment 1 and 2 show no gripper closure — correctly labeled as approach phases. Segment 3 shows meaningful gripper closure (delta=-0.426) consistent with grasping. Segment 4 shows controlled motion and partial gripper release during placement. All frame ranges are contiguous and cover 0–44." + } + }, + "episode_goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35046932101249695, + 0.10247430205345154, + 0.1547805368900299, + 3.0271048545837402, + -0.1425165981054306, + 0.8471209406852722 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, move down 4 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34891918301582336, + 0.10142163187265396, + 0.1415313333272934, + 3.048159599304199, + -0.10854034870862961, + 0.8429504632949829 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 14 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33430224657058716, + 0.0787569209933281, + 0.1349804401397705, + 3.0679244995117188, + -0.10167710483074188, + 0.7302507758140564 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32007020711898804, + 0.052932009100914, + 0.14450974762439728, + 3.0508291721343994, + -0.122854083776474, + 0.645989716053009 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041746914386749, + 0.0323331318795681, + 0.14450234174728394, + 3.0441973209381104, + -0.11646746844053268, + 0.5869090557098389 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2936326861381531, + 0.00810974556952715, + 0.13445083796977997, + 3.077791452407837, + -0.12939901649951935, + 0.487339049577713 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897711992263794, + -0.015553716570138931, + 0.12563519179821014, + -3.1312365531921387, + -0.16901232302188873, + 0.4167748987674713 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879607081413269, + -0.03590645641088486, + 0.12320880591869354, + -3.103818893432617, + -0.19432248175144196, + 0.3476814329624176 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 6, + 992, + 990 + ], + "computer tower": [ + 751, + 2, + 918, + 187 + ], + "white cylinder": [ + 347, + 204, + 410, + 271 + ], + "blue block": [ + 446, + 101, + 515, + 263 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28727173805236816, + -0.04991944879293442, + 0.12430248409509659, + -3.0899155139923096, + -0.21413099765777588, + 0.30766284465789795 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29081133008003235, + -0.05554772913455963, + 0.12088899314403534, + -3.1015031337738037, + -0.19645965099334717, + 0.31395211815834045 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30153191089630127, + -0.05361015349626541, + 0.11852188408374786, + -3.1111247539520264, + -0.19822219014167786, + 0.339540034532547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31780269742012024, + -0.04120717942714691, + 0.12087716162204742, + 3.130153179168701, + -0.19884097576141357, + 0.4038292169570923 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33253294229507446, + -0.027596481144428253, + 0.11430327594280243, + 3.133023738861084, + -0.1881115436553955, + 0.4424091875553131 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 993, + 991 + ], + "computer tower": [ + 548, + 7, + 857, + 306 + ], + "blue block": [ + 446, + 99, + 542, + 262 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33455872535705566, + -0.02185617946088314, + 0.10723519325256348, + 3.126067876815796, + -0.15913428366184235, + 0.45215803384780884 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33306849002838135, + -0.018336599692702293, + 0.10672622174024582, + 3.049769401550293, + -0.1035282164812088, + 0.43259871006011963 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33286523818969727, + -0.017652146518230438, + 0.1065022200345993, + 3.0322861671447754, + -0.09436161816120148, + 0.43107670545578003 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3299914002418518, + -0.019116533920168877, + 0.10281234979629517, + 3.030862808227539, + -0.08402346074581146, + 0.42375126481056213 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33089685440063477, + -0.024100689217448235, + 0.10299337655305862, + 3.025538444519043, + -0.09028419107198715, + 0.40752094984054565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow rectangular cube visible in the foreground. No objects have been moved yet. The gripper is open and the arm is moving toward the target cube. The next action is to continue approaching the yellow cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310631811618805, + -0.024159150198101997, + 0.10231557488441467, + 3.027226209640503, + -0.09469122439622879, + 0.4020671844482422 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33081692457199097, + -0.025632401928305626, + 0.0962245985865593, + 3.032987594604492, + -0.08402115106582642, + 0.3944242596626282 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 5 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3307064473628998, + -0.03165867552161217, + 0.08795692026615143, + 3.0459625720977783, + -0.07294247299432755, + 0.3725297152996063 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move left 8 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32937607169151306, + -0.03820808604359627, + 0.07892832159996033, + 3.0624802112579346, + -0.0600133053958416, + 0.34893161058425903 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 8 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3277350664138794, + -0.04237420856952667, + 0.07512978464365005, + 3.072350025177002, + -0.05760569870471954, + 0.3337777853012085 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32665449380874634, + -0.040130339562892914, + 0.06048992648720741, + 3.0967814922332764, + -0.03649526461958885, + 0.33966895937919617 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 9 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.327159583568573, + -0.037120524793863297, + 0.05847236514091492, + 3.1037986278533936, + -0.036276038736104965, + 0.35096508264541626 + ], + "gripper_value": 0.5749470591545105 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 9 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32587772607803345, + -0.03454488515853882, + 0.05942782759666443, + 3.097771406173706, + -0.017907405272126198, + 0.37216371297836304 + ], + "gripper_value": 0.5749470591545105 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 10 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.33512234687805176, + -0.017829636111855507, + 0.08402203768491745, + 3.0453996658325195, + -0.048990894109010696, + 0.44435080885887146 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 993, + 990 + ], + "blue block": [ + 446, + 99, + 542, + 261 + ], + "white cylinder": [ + 347, + 204, + 410, + 271 + ], + "white block": [ + 432, + 182, + 555, + 331 + ], + "red block": [ + 594, + 404, + 723, + 575 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 10 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35256457328796387, + 0.01822080835700035, + 0.11393269151449203, + 2.989806652069092, + -0.09618422389030457, + 0.574326753616333 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 6, + 993, + 990 + ], + "computer tower": [ + 753, + 2, + 923, + 188 + ], + "blue block": [ + 447, + 100, + 542, + 261 + ], + "red block": [ + 595, + 375, + 726, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3754512071609497, + 0.058455780148506165, + 0.1308356076478958, + 2.9597957134246826, + -0.1323792189359665, + 0.7102301120758057 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4008168578147888, + 0.08293461799621582, + 0.12229195237159729, + 2.9598095417022705, + -0.1083710640668869, + 0.8099349737167358 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.41467615962028503, + 0.09796381741762161, + 0.11476004123687744, + 2.9777722358703613, + -0.0873291939496994, + 0.8426307439804077 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The robot has approached the yellow rectangular cube and is currently positioned above it with the gripper open. The gripper signal indicates a closing action is imminent or in progress within this segment. The next action is to close the gripper to securely grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.41315001249313354, + 0.10244264453649521, + 0.10586538910865784, + 3.0165607929229736, + -0.07522296160459518, + 0.8423846364021301 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.40926820039749146, + 0.10664484649896622, + 0.102634496986866, + 3.049700975418091, + -0.08338683843612671, + 0.8409034013748169 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.39955294132232666, + 0.10584801435470581, + 0.10667471587657928, + 3.0581772327423096, + -0.08322084695100784, + 0.8448697328567505 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3912820518016815, + 0.11309570074081421, + 0.11969344317913055, + 3.033496856689453, + -0.09654136747121811, + 0.8760701417922974 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move right 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.38924118876457214, + 0.11672499030828476, + 0.11912629008293152, + 3.0301294326782227, + -0.0906715989112854, + 0.8898261189460754 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "lift and transport yellow cube", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3894481658935547, + 0.11826363205909729, + 0.11707623302936554, + 3.035111665725708, + -0.09935315698385239, + 0.8895672559738159 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "computer tower": [ + 751, + 3, + 935, + 190 + ], + "blue block": [ + 449, + 104, + 541, + 260 + ], + "table": [ + 5, + 5, + 993, + 991 + ], + "white cylinder": [ + 663, + 62, + 772, + 272 + ], + "red block": [ + 595, + 374, + 726, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3914583623409271, + 0.112177774310112, + 0.10272673517465591, + 3.056199789047241, + -0.07277112454175949, + 0.8702681064605713 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3918067514896393, + 0.11091334372758865, + 0.10150162130594254, + 3.05433988571167, + -0.06802274286746979, + 0.866899847984314 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3933054506778717, + 0.10638567060232162, + 0.10151872038841248, + 3.0546581745147705, + -0.06999469548463821, + 0.8558229804039001 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held in the gripper and elevated above the table, indicating the grasp and initial lift are complete. The robot is in transit, moving the cube toward the blue block tower. The next action is to continue transporting the cube to position it directly above the target stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3936469256877899, + 0.1043664962053299, + 0.10075802356004715, + 3.0570733547210693, + -0.07150501012802124, + 0.8504141569137573 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held above the blue cube tower, aligned for placement. The gripper remains closed with minimal motion, indicating the object is still secured. The next action is to lower the cube and release it onto the tower to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3916567265987396, + 0.10422971844673157, + 0.09766769409179688, + 3.0600674152374268, + -0.06429090350866318, + 0.8522762060165405 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held above the blue cube tower, aligned for placement. The gripper remains closed with minimal motion, indicating the object is still secured. The next action is to lower the cube and release it onto the tower to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.38922369480133057, + 0.10291638225317001, + 0.09380564093589783, + 3.0659067630767822, + -0.055208660662174225, + 0.8520768880844116 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held above the blue cube tower, aligned for placement. The gripper remains closed with minimal motion, indicating the object is still secured. The next action is to lower the cube and release it onto the tower to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3866163492202759, + 0.10243290662765503, + 0.0903380960226059, + 3.0729899406433105, + -0.046946268528699875, + 0.8529257774353027 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held above the blue cube tower, aligned for placement. The gripper remains closed with minimal motion, indicating the object is still secured. The next action is to lower the cube and release it onto the tower to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3845788240432739, + 0.0997413769364357, + 0.08898771554231644, + 3.0745253562927246, + -0.04262443259358406, + 0.8442568182945251 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow rectangular cube and place it on top of the blue cube to form a tower." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "lift and transport yellow cube" + }, + { + "id": 4, + "subtask": "place yellow cube on tower" + } + ], + "subtask_name": "place yellow cube on tower", + "subtask_reasoning": "The yellow cube is currently held above the blue cube tower, aligned for placement. The gripper remains closed with minimal motion, indicating the object is still secured. The next action is to lower the cube and release it onto the tower to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 36, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000723_ecot.json b/cot/chunk-0000/episode_0000723_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a27121c3d5cae786f0f7b562b3b184fd8b918f2c --- /dev/null +++ b/cot/chunk-0000/episode_0000723_ecot.json @@ -0,0 +1,2820 @@ +{ + "task_name": "episode_0000723", + "episode_json": "json/chunk-0000/episode_0000723.json", + "video_path": "videos/chunk-0000/image_0/episode_0000723.mp4", + "instruction": "Remove the cone toy and place it beside ball toy.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000723.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4575374126434326, + "std": 0.22423648834228516, + "delta_total": -0.4575374126434326, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45754, std=0.22424, total_delta=-0.45754). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 14 + ], + [ + 3, + 15, + 25 + ], + [ + 4, + 26, + 37 + ], + [ + 5, + 38, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cone toy\", \"start\": 0, \"end\": 14, \"planning\": \"Move end-effector toward the red cone toy on the yellow base without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with cone\", \"start\": 15, \"end\": 25, \"planning\": \"Gently nudge or slide the cone toy off its base using end-effector contact.\"},\n {\"id\": 3, \"name\": \"reposition cone beside ball\", \"start\": 26, \"end\": 37, \"planning\": \"Drag or push the displaced cone toy across the table to a position near the brown ball toy.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 38, \"end\": 44, \"planning\": \"Withdraw end-effector from contact with the cone after positioning it beside the ball.\"}\n ],\n \"global_plan\": \"Remove the cone toy by nudging it off its base, then drag it to rest beside the ball toy, avoiding any grasp-based actions since gripper never meaningfully closes.\",\n \"notes\": \"All segments show no meaningful gripper closing (range=0 or near-zero delta), so all actions are contact-based: approach, nudge, drag, retreat. No lifting or placing is inferred.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cone toy", + "start": 0, + "end": 14, + "planning": "Move end-effector toward the red cone toy on the yellow base without grasping." + }, + { + "id": 2, + "name": "make contact with cone", + "start": 15, + "end": 25, + "planning": "Gently nudge or slide the cone toy off its base using end-effector contact." + }, + { + "id": 3, + "name": "reposition cone beside ball", + "start": 26, + "end": 37, + "planning": "Drag or push the displaced cone toy across the table to a position near the brown ball toy." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 38, + "end": 44, + "planning": "Withdraw end-effector from contact with the cone after positioning it beside the ball." + } + ], + "global_plan": "Remove the cone toy by nudging it off its base, then drag it to rest beside the ball toy, avoiding any grasp-based actions since gripper never meaningfully closes.", + "notes": "All segments show no meaningful gripper closing (range=0 or near-zero delta), so all actions are contact-based: approach, nudge, drag, retreat. No lifting or placing is inferred." + } + }, + "episode_goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38508039712905884, + 0.19165338575839996, + 0.14721398055553436, + 2.811854124069214, + -0.04631111025810242, + 1.4127657413482666 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No actions have been completed yet. The next step is to move the end effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38521233201026917, + 0.19114525616168976, + 0.12871000170707703, + 2.850632429122925, + -0.015097076073288918, + 1.4130959510803223 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No actions have been completed yet. The next step is to move the end effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3879569172859192, + 0.20258939266204834, + 0.11838728189468384, + 2.8891639709472656, + -0.0017967703752219677, + 1.4388267993927002 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No actions have been completed yet. The next step is to move the end effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38989201188087463, + 0.23151615262031555, + 0.11460711807012558, + 2.9159996509552, + -0.014434563927352428, + 1.513911247253418 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown bun": [ + 496, + 717, + 590, + 834 + ], + "wooden table": [ + 70, + 452, + 813, + 995 + ], + "yellow stand": [ + 355, + 497, + 439, + 644 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No actions have been completed yet. The next step is to move the end effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.395114541053772, + 0.24207614362239838, + 0.1172904297709465, + 2.9099225997924805, + -0.023890281096100807, + 1.5373111963272095 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No actions have been completed yet. The next step is to move the end effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39490175247192383, + 0.2515348792076111, + 0.11044278740882874, + 2.932276964187622, + -0.038834020495414734, + 1.560735821723938 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next step is to move the end effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3918437361717224, + 0.26065173745155334, + 0.08930892497301102, + 2.976616144180298, + -0.059972263872623444, + 1.5548372268676758 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next step is to move the end effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38932570815086365, + 0.25837311148643494, + 0.06484487652778625, + 2.9781453609466553, + -0.07464182376861572, + 1.4903008937835693 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38807982206344604, + 0.24892424046993256, + 0.04200292006134987, + 2.9474937915802, + -0.06325415521860123, + 1.4001120328903198 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39233654737472534, + 0.2394816130399704, + 0.04359927400946617, + 2.855478286743164, + -0.04550504684448242, + 1.3225959539413452 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 1 cm, tilt back 20 degrees, keep gripper open; then move left 2 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3890279233455658, + 0.24335472285747528, + 0.05059652775526047, + 2.744936466217041, + -0.0696006789803505, + 1.274057388305664 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, tilt back 20 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3915065824985504, + 0.24720945954322815, + 0.04705854877829552, + 2.7235538959503174, + -0.09887662529945374, + 1.2953433990478516 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.395508348941803, + 0.2534160315990448, + 0.05129874870181084, + 2.748845100402832, + -0.1466572880744934, + 1.3369665145874023 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4041984975337982, + 0.25755202770233154, + 0.05660227686166763, + 2.752232789993286, + -0.19146333634853363, + 1.3682068586349487 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 3 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4094153046607971, + 0.2634076476097107, + 0.05762797221541405, + 2.775301456451416, + -0.2782849371433258, + 1.4264394044876099 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cone toy", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4177892506122589, + 0.2610986530780792, + 0.04909100756049156, + 2.801886558532715, + -0.3547309339046478, + 1.4318667650222778 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4142623543739319, + 0.264546662569046, + 0.03179808333516121, + 2.877392292022705, + -0.39755576848983765, + 1.4454123973846436 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. 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The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4174319803714752, + 0.2703377306461334, + 0.028476286679506302, + 2.9420223236083984, + -0.42797064781188965, + 1.453835129737854 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 72, + 471, + 811, + 995 + ], + "brown bun": [ + 496, + 718, + 590, + 835 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4183698296546936, + 0.2748100161552429, + 0.023366471752524376, + 2.9995298385620117, + -0.4333973228931427, + 1.4619327783584595 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.41987428069114685, + 0.27673086524009705, + 0.02615780010819435, + 2.998415470123291, + -0.44156309962272644, + 1.4640960693359375 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot arm is positioned above the wooden surface, approaching the red cone toy on the yellow stand. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the cone toy to prepare for nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.42050859332084656, + 0.2782765030860901, + 0.016637908294796944, + 3.0156478881835938, + -0.42640987038612366, + 1.4730048179626465 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4187684953212738, + 0.27832913398742676, + 0.014635465107858181, + 2.9989287853240967, + -0.3890416622161865, + 1.487026333808899 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, keep gripper closed; then move back 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4181750416755676, + 0.27670106291770935, + 0.013720041140913963, + 2.993185520172119, + -0.36484089493751526, + 1.4923642873764038 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 7 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4174301028251648, + 0.2770327031612396, + 0.01484675146639347, + 2.9900481700897217, + -0.34457820653915405, + 1.4916690587997437 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4145781099796295, + 0.274997740983963, + 0.031185561791062355, + 2.9554734230041504, + -0.3333302140235901, + 1.5227046012878418 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, keep gripper closed; then move back 2 cm, move right 2 cm, move up 12 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.413614422082901, + 0.2677699029445648, + 0.06982108950614929, + 2.8819193840026855, + -0.37417834997177124, + 1.567386269569397 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown bun": [ + 496, + 717, + 590, + 834 + ], + "wooden table": [ + 71, + 447, + 812, + 994 + ], + "wooden wall": [ + 350, + 3, + 939, + 692 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cone", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 4 cm, move up 13 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.41411447525024414, + 0.25887420773506165, + 0.07895205169916153, + 2.8903872966766357, + -0.37382662296295166, + 1.574829339981079 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 13 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4065624475479126, + 0.2589877247810364, + 0.08354667574167252, + 2.9277713298797607, + -0.35200875997543335, + 1.6363555192947388 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, move up 11 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.40358784794807434, + 0.2549647092819214, + 0.10670292377471924, + 2.9111673831939697, + -0.3275720179080963, + 1.6934596300125122 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.40241721272468567, + 0.25598910450935364, + 0.1285059154033661, + 2.8598392009735107, + -0.34461724758148193, + 1.7383155822753906 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown bun": [ + 497, + 717, + 590, + 833 + ], + "wooden table": [ + 70, + 443, + 813, + 994 + ], + "yellow stand": [ + 354, + 503, + 439, + 645 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39687541127204895, + 0.2574891149997711, + 0.1293434351682663, + 2.877222776412964, + -0.3472212255001068, + 1.7837485074996948 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The robot has approached the red cone on the yellow stand and is now making contact with it. The gripper shows a significant closing trend in this segment, suggesting an attempt to grasp or stabilize the cone. The next likely action is to secure the cone before lifting or nudging it off the stand." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39519020915031433, + 0.26026013493537903, + 0.13531936705112457, + 2.8751566410064697, + -0.3577234745025635, + 1.8188742399215698 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.39609503746032715, + 0.2530417740345001, + 0.14906370639801025, + 2.858729600906372, + -0.31047189235687256, + 1.819281816482544 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, move down 11 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3945060670375824, + 0.24627327919006348, + 0.17954349517822266, + 2.8065731525421143, + -0.264724999666214, + 1.8110705614089966 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 12 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.39029791951179504, + 0.23937754333019257, + 0.19611728191375732, + 2.7797374725341797, + -0.2200671136379242, + 1.7822375297546387 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 14 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.38481637835502625, + 0.21893492341041565, + 0.20980806648731232, + 2.770953893661499, + -0.19039486348628998, + 1.7187378406524658 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 14 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848485052585602, + 0.18718838691711426, + 0.20643147826194763, + 2.795764684677124, + -0.1941012144088745, + 1.6163253784179688 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 14 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3835226893424988, + 0.15529310703277588, + 0.19704782962799072, + 2.7915449142456055, + -0.21832437813282013, + 1.5036289691925049 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "reposition cone beside ball", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 14 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3886464238166809, + 0.12034344673156738, + 0.16746030747890472, + 2.789198875427246, + -0.27980145812034607, + 1.3700190782546997 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 14 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.4002472162246704, + 0.1077493354678154, + 0.14757844805717468, + 2.782407760620117, + -0.36295396089553833, + 1.3270288705825806 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 12 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4112597703933716, + 0.1038632020354271, + 0.1066042110323906, + 2.8577003479003906, + -0.37777891755104065, + 1.2792223691940308 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The red cone toy has been nudged off the yellow stand and is currently suspended in the air by the robot's end-effector, positioned above the wooden surface near the brown ball. Since the gripper evidence indicates no closing action, the robot is maintaining contact or balance to keep the cone upright while moving it. The next action is to lower the cone onto the wooden surface beside the ball toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.4209245443344116, + 0.10575376451015472, + 0.07471723854541779, + 2.9728665351867676, + -0.39166635274887085, + 1.2132619619369507 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown bun": [ + 497, + 718, + 589, + 834 + ], + "wooden table": [ + 73, + 458, + 814, + 995 + ], + "white bin": [ + 745, + 651, + 995, + 994 + ], + "yellow stand": [ + 354, + 497, + 436, + 644 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The red cone toy has been successfully nudged off the yellow stand and is now resting on the wooden surface near the brown ball toy. The gripper is open and maintaining a safe distance, indicating contact has been released. The next action is to retreat the arm further to ensure no accidental re-contact with the toys." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.4249948263168335, + 0.10622105002403259, + 0.06115857884287834, + 3.038158416748047, + -0.3560676574707031, + 1.1720672845840454 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The red cone toy has been successfully nudged off the yellow stand and is now resting on the wooden surface near the brown ball toy. The gripper is open and maintaining a safe distance, indicating contact has been released. The next action is to retreat the arm further to ensure no accidental re-contact with the toys." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.4211350083351135, + 0.10841172188520432, + 0.04410805180668831, + 3.0664968490600586, + -0.3719903528690338, + 1.130692481994629 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The red cone toy has been successfully nudged off the yellow stand and is now resting on the wooden surface near the brown ball toy. The gripper is open and maintaining a safe distance, indicating contact has been released. The next action is to retreat the arm further to ensure no accidental re-contact with the toys." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.4150838255882263, + 0.10824130475521088, + 0.032133568078279495, + 3.0735840797424316, + -0.3767346143722534, + 1.1060833930969238 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cone toy from the yellow stand and place it on the wooden surface beside the brown ball toy." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cone toy" + }, + { + "id": 2, + "subtask": "make contact with cone" + }, + { + "id": 3, + "subtask": "reposition cone beside ball" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The red cone toy has been successfully nudged off the yellow stand and is now resting on the wooden surface near the brown ball toy. The gripper is open and maintaining a safe distance, indicating contact has been released. The next action is to retreat the arm further to ensure no accidental re-contact with the toys." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000724_ecot.json b/cot/chunk-0000/episode_0000724_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b4fee04a701e91d6acb4e7b7bc5e67042e78200d --- /dev/null +++ b/cot/chunk-0000/episode_0000724_ecot.json @@ -0,0 +1,1124 @@ +{ + "task_name": "episode_0000724", + "episode_json": "json/chunk-0000/episode_0000724.json", + "video_path": "videos/chunk-0000/image_0/episode_0000724.mp4", + "instruction": "Move the cloth to the left side of the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000724.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.003330826759338379, + "std": 0.0008213125984184444, + "delta_total": 0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00333, std=0.00082, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector down toward the purple cloth on the stovetop.\"},\n {\"id\": 2, \"name\": \"contact and nudge cloth\", \"start\": 5, \"end\": 9, \"planning\": \"Make contact with the cloth and begin nudging it leftward across the stovetop surface.\"},\n {\"id\": 3, \"name\": \"slide cloth to target\", \"start\": 10, \"end\": 13, \"planning\": \"Continue sliding the cloth left until it reaches the desired position beside the silver pot.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 14, \"end\": 16, \"planning\": \"Lift the end-effector slightly and retreat upward after positioning the cloth.\"}\n ],\n \"global_plan\": \"Approach the cloth, make contact, slide it leftward to the side of the silver pot, then release and retreat.\",\n \"notes\": \"Gripper remains nearly open throughout; no grasp or lift is inferred. Motion is contact-based sliding. Subtasks cover all frames 0–16 contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move the end-effector down toward the purple cloth on the stovetop." + }, + { + "id": 2, + "name": "contact and nudge cloth", + "start": 5, + "end": 9, + "planning": "Make contact with the cloth and begin nudging it leftward across the stovetop surface." + }, + { + "id": 3, + "name": "slide cloth to target", + "start": 10, + "end": 13, + "planning": "Continue sliding the cloth left until it reaches the desired position beside the silver pot." + }, + { + "id": 4, + "name": "release and retreat", + "start": 14, + "end": 16, + "planning": "Lift the end-effector slightly and retreat upward after positioning the cloth." + } + ], + "global_plan": "Approach the cloth, make contact, slide it leftward to the side of the silver pot, then release and retreat.", + "notes": "Gripper remains nearly open throughout; no grasp or lift is inferred. Motion is contact-based sliding. Subtasks cover all frames 0–16 contiguously." + } + }, + "episode_goal": "Move the cloth to the left side of the silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3916527330875397, + 0.08512014150619507, + 0.10805192589759827, + -2.895494222640991, + -0.2689877152442932, + -0.5008061528205872 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, with the purple cloth located to the left of the silver pot. No actions have been completed yet as the robot is initiating the approach. The gripper is open, and the next step is to move the end-effector closer to the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 12 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38975539803504944, + 0.08411133289337158, + 0.09151910245418549, + -2.927577495574951, + -0.23302772641181946, + -0.4927902817726135 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, with the purple cloth located to the left of the silver pot. No actions have been completed yet as the robot is initiating the approach. The gripper is open, and the next step is to move the end-effector closer to the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 12 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3885767459869385, + 0.07828935235738754, + 0.07595408707857132, + -2.962106704711914, + -0.18741828203201294, + -0.4977778196334839 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the purple cloth located to the left of the silver pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 6 cm, keep gripper open; then move back 12 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3948832154273987, + 0.07420739531517029, + 0.05237680301070213, + -2.999453544616699, + -0.17569194734096527, + -0.5146549940109253 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the purple cloth located to the left of the silver pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, keep gripper open; then move back 12 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3923012316226959, + 0.07155390828847885, + 0.02719348482787609, + -3.034515619277954, + -0.14465005695819855, + -0.5082414746284485 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the purple cloth located to the left of the silver pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 12 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825019896030426, + 0.06986341625452042, + 0.015437230467796326, + -3.04437255859375, + -0.13875043392181396, + -0.5007578730583191 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the purple cloth located to the left of the silver pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37071385979652405, + 0.07188121974468231, + 0.012494484893977642, + -3.0601401329040527, + -0.1566706746816635, + -0.487709641456604 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the purple cloth located to the left of the silver pot. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337843418121338, + 0.07925069332122803, + 0.01285366527736187, + -3.0565078258514404, + -0.14350713789463043, + -0.45368731021881104 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 425, + 407, + 721, + 754 + ], + "purple cloth": [ + 336, + 302, + 569, + 491 + ], + "faucet": [ + 944, + 386, + 996, + 545 + ], + "washing machine": [ + 39, + 616, + 679, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the purple cloth and is now in contact with it, positioned to nudge it leftward. No grasping has occurred, as gripper evidence shows no meaningful closure. The next action is to slide the cloth toward the left side of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.309326171875, + 0.08422991633415222, + 0.013351639732718468, + -3.047135353088379, + -0.11514636129140854, + -0.41767647862434387 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 427, + 408, + 722, + 755 + ], + "purple cloth": [ + 292, + 338, + 527, + 539 + ], + "faucet": [ + 944, + 386, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the purple cloth and is now in contact with it, positioned to nudge it leftward. No grasping has occurred, as gripper evidence shows no meaningful closure. The next action is to slide the cloth toward the left side of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29264989495277405, + 0.08818694204092026, + 0.013336065225303173, + -3.0416646003723145, + -0.08616422116756439, + -0.3830644190311432 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "contact and nudge cloth", + "subtask_reasoning": "The robot has approached the purple cloth and is now in contact with it, positioned to nudge it leftward. No grasping has occurred, as gripper evidence shows no meaningful closure. The next action is to slide the cloth toward the left side of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper open; then move back 1 cm, keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647038400173187, + 0.0971260666847229, + 0.012765290215611458, + -3.043109655380249, + -0.07697369903326035, + -0.30498838424682617 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached the purple cloth and is now in contact with it, positioned to nudge it leftward. No grasping has occurred, as gripper evidence shows no meaningful closure. The next action is to slide the cloth toward the left side of the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536466717720032, + 0.0978650227189064, + 0.012650497257709503, + -3.033006429672241, + -0.06648056954145432, + -0.29962316155433655 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the purple cloth, positioned to the left of the silver pot. The gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth further left to align it with the target position beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24905715882778168, + 0.09813403338193893, + 0.011789008975028992, + -3.0465641021728516, + -0.08332958072423935, + -0.2725657522678375 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the purple cloth, positioned to the left of the silver pot. The gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth further left to align it with the target position beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524413466453552, + 0.09834617376327515, + 0.011605320498347282, + -3.047825574874878, + -0.08711856603622437, + -0.296522855758667 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot is in contact with the purple cloth, positioned to the left of the silver pot. The gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth further left to align it with the target position beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.254379540681839, + 0.09786556661128998, + 0.01406029425561428, + -3.049466133117676, + -0.09752162545919418, + -0.3113562762737274 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the purple cloth, positioned to the left of the silver pot. The gripper remains open, indicating a sliding motion rather than grasping. The next action is to continue pushing the cloth further left to align it with the target position beside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2553236782550812, + 0.09967948496341705, + 0.0319373719394207, + -3.0248141288757324, + -0.10957425832748413, + -0.31719905138015747 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is already positioned to the left of the silver pot, and the gripper is open with no recent closing motion. The robot has completed sliding the cloth and is now in the release and retreat phase. The next action is to move the end effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523522675037384, + 0.09451506286859512, + 0.06361239403486252, + -2.9963033199310303, + -0.1888846457004547, + -0.30726540088653564 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the left side of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "contact and nudge cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is already positioned to the left of the silver pot, and the gripper is open with no recent closing motion. The robot has completed sliding the cloth and is now in the release and retreat phase. The next action is to move the end effector away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000725_ecot.json b/cot/chunk-0000/episode_0000725_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6c825104f9644101f99c35f25bfa57a99d0163f1 --- /dev/null +++ b/cot/chunk-0000/episode_0000725_ecot.json @@ -0,0 +1,5217 @@ +{ + "task_name": "episode_0000725", + "episode_json": "json/chunk-0000/episode_0000725.json", + "video_path": "videos/chunk-0000/image_0/episode_0000725.mp4", + "instruction": "Put pot or pan on stove and put potato in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 75, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000725.json" + }, + "fps": 5.0, + "T_eff": 75, + "gripper_behavior_summary": { + "available": true, + "range": 0.9412221312522888, + "std": 0.38098037242889404, + "delta_total": 0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94122, std=0.38098, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 416, + 437, + 437, + 437, + 437, + 437, + 437, + 437, + 437, + 437, + 437, + 437, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ], + [ + 3, + 12, + 15 + ], + [ + 4, + 16, + 36 + ], + [ + 5, + 37, + 47 + ], + [ + 6, + 48, + 59 + ], + [ + 7, + 60, + 74 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach stove area\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the stove region without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 12, \"end\": 15, \"planning\": \"Close gripper to grasp the pot handle, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition pot on burner\", \"start\": 16, \"end\": 36, \"planning\": \"Lift and move pot to center it on the left burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release pot and retreat\", \"start\": 37, \"end\": 47, \"planning\": \"Open gripper to release pot, then retract arm away from stove after placement.\"},\n {\"id\": 5, \"name\": \"approach potato\", \"start\": 48, \"end\": 59, \"planning\": \"Navigate end-effector toward potato on stove surface in preparation for pickup.\"},\n {\"id\": 6, \"name\": \"grasp and place potato in pot\", \"start\": 60, \"end\": 74, \"planning\": \"Grasp potato with partial closure, lift slightly, and drop into pot before releasing and retreating.\"}\n ],\n \"global_plan\": \"First reposition the pot onto the correct burner by grasping its handle, moving it, and releasing. Then pick up the potato and place it inside the pot.\",\n \"notes\": \"Gripper evidence aligns with grasp actions only in segments 3, 5, and 7; other segments use contact-based or motion-only descriptions. Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach stove area", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the stove region without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 12, + "end": 15, + "planning": "Close gripper to grasp the pot handle, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "reposition pot on burner", + "start": 16, + "end": 36, + "planning": "Lift and move pot to center it on the left burner while maintaining grip." + }, + { + "id": 4, + "name": "release pot and retreat", + "start": 37, + "end": 47, + "planning": "Open gripper to release pot, then retract arm away from stove after placement." + }, + { + "id": 5, + "name": "approach potato", + "start": 48, + "end": 59, + "planning": "Navigate end-effector toward potato on stove surface in preparation for pickup." + }, + { + "id": 6, + "name": "grasp and place potato in pot", + "start": 60, + "end": 74, + "planning": "Grasp potato with partial closure, lift slightly, and drop into pot before releasing and retreating." + } + ], + "global_plan": "First reposition the pot onto the correct burner by grasping its handle, moving it, and releasing. Then pick up the potato and place it inside the pot.", + "notes": "Gripper evidence aligns with grasp actions only in segments 3, 5, and 7; other segments use contact-based or motion-only descriptions. Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the potato into the pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170841634273529, + -0.11818670481443405, + 0.12455398589372635, + 3.0636284351348877, + -0.23763439059257507, + 0.12161149829626083 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove where a pot sits on the right burner and a potato rests on the left. No actions have been completed yet as this is the initial approach phase. The robot needs to move closer to the pot to prepare for repositioning it onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159625232219696, + -0.11721574515104294, + 0.11150160431861877, + 3.0823841094970703, + -0.20702052116394043, + 0.11124338209629059 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove where a pot sits on the right burner and a potato rests on the left. No actions have been completed yet as this is the initial approach phase. The robot needs to move closer to the pot to prepare for repositioning it onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33164700865745544, + -0.10328139364719391, + 0.09612774103879929, + 3.1018686294555664, + -0.21559728682041168, + 0.052627116441726685 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove where a pot sits on the right burner and a potato rests on the left. No actions have been completed yet as this is the initial approach phase. The robot needs to move closer to the pot to prepare for repositioning it onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34525266289711, + -0.08941718935966492, + 0.09742866456508636, + 3.1115188598632812, + -0.2368754744529724, + 0.028902344405651093 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "lemon": [ + 384, + 432, + 475, + 566 + ], + "faucet": [ + 123, + 3, + 260, + 178 + ], + "pot": [ + 629, + 266, + 882, + 527 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove where a pot sits on the right burner and a potato rests on the left. No actions have been completed yet as this is the initial approach phase. The robot needs to move closer to the pot to prepare for repositioning it onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556709289550781, + -0.07395174354314804, + 0.09717535972595215, + 3.115570306777954, + -0.23450887203216553, + -0.007441149093210697 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove where a pot sits on the right burner and a potato rests on the left. No actions have been completed yet as this is the initial approach phase. The robot needs to move closer to the pot to prepare for repositioning it onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608732521533966, + -0.054238252341747284, + 0.09967267513275146, + 3.135753631591797, + -0.2344849556684494, + -0.03171239048242569 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36273133754730225, + -0.04189065843820572, + 0.10333824157714844, + -3.1153624057769775, + -0.23165571689605713, + -0.033856794238090515 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36116260290145874, + -0.03441174700856209, + 0.1025618463754654, + -3.0837814807891846, + -0.21817804872989655, + -0.02130221575498581 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36265331506729126, + -0.033786237239837646, + 0.09840163588523865, + -3.0887584686279297, + -0.24234682321548462, + 0.01118114311248064 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 4 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36034831404685974, + -0.03893556445837021, + 0.08772445470094681, + -3.1104326248168945, + -0.2650640308856964, + 0.022629862651228905 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593193590641022, + -0.043798208236694336, + 0.07535860687494278, + -3.1286509037017822, + -0.2945799231529236, + 0.035196736454963684 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558024764060974, + -0.049144256860017776, + 0.06436873227357864, + -3.1415188312530518, + -0.30714499950408936, + 0.038376450538635254 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach stove area", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.351870059967041, + -0.05516444146633148, + 0.054436732083559036, + 3.123678684234619, + -0.33020254969596863, + 0.05150601267814636 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot is positioned near the stove with the pot already on the burner and a potato resting on the stovetop. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for picking it up." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 2 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34857410192489624, + -0.05727541446685791, + 0.04414689540863037, + 3.1141231060028076, + -0.3351157009601593, + 0.06093539670109749 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34658437967300415, + -0.06212056800723076, + 0.039710938930511475, + 3.0881693363189697, + -0.3512857258319855, + 0.0794084444642067 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34518668055534363, + -0.06403801590204239, + 0.037844445556402206, + 3.0699665546417236, + -0.35226866602897644, + 0.1146446093916893 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 1 cm, move left 5 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34383806586265564, + -0.06945738196372986, + 0.038497164845466614, + 3.0599944591522217, + -0.35098761320114136, + 0.11582867801189423 + ], + "gripper_value": 0.44759801030158997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34066900610923767, + -0.07315065711736679, + 0.03980070725083351, + 3.0531415939331055, + -0.33417829871177673, + 0.12099684774875641 + ], + "gripper_value": 0.25822705030441284 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 123, + 3, + 259, + 178 + ], + "lemon": [ + 384, + 433, + 475, + 567 + ], + "pot": [ + 669, + 310, + 958, + 578 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327523171901703, + -0.07999112457036972, + 0.040139809250831604, + 3.0478029251098633, + -0.29326295852661133, + 0.1276731789112091 + ], + "gripper_value": 0.1059318259358406 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3287620544433594, + -0.08580491691827774, + 0.042728640139102936, + 3.05336332321167, + -0.26769086718559265, + 0.12485062330961227 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3264734148979187, + -0.08824349194765091, + 0.04751688987016678, + 3.063542366027832, + -0.22716207802295685, + 0.13033632934093475 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 14 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32717108726501465, + -0.08978234231472015, + 0.058929793536663055, + 3.074937343597412, + -0.17848806083202362, + 0.12982355058193207 + ], + "gripper_value": 0.07526680082082748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 16 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366723656654358, + -0.08798323571681976, + 0.07792210578918457, + 3.079328775405884, + -0.16516639292240143, + 0.11325710266828537 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 17 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428189158439636, + -0.07486476004123688, + 0.08434804528951645, + 3.0770254135131836, + -0.16695985198020935, + 0.06534898281097412 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3507601022720337, + -0.046728964895009995, + 0.08928339183330536, + 3.073145627975464, + -0.17289243638515472, + 0.01752091944217682 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35457831621170044, + -0.02171221189200878, + 0.09321632981300354, + 3.067089796066284, + -0.18007323145866394, + -0.013894272968173027 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 123, + 3, + 260, + 178 + ], + "lemon": [ + 384, + 432, + 476, + 567 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The robot arm is positioned above the stove with the pot on the right burner and a potato on the left. The gripper is open and approaching the pot handle, consistent with the 'grasp pot handle' subtask. The next action is to close the gripper to secure the pot handle for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 13 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35648712515830994, + -0.002685682848095894, + 0.09309586882591248, + 3.083846092224121, + -0.19384048879146576, + -0.0344054140150547 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562556207180023, + 0.00860013160854578, + 0.09275805205106735, + 3.093379020690918, + -0.19687582552433014, + -0.057417821139097214 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 5 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.355927437543869, + 0.019711991772055626, + 0.09238190203905106, + 3.0918779373168945, + -0.20049265027046204, + -0.07733649015426636 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 5 cm, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35859984159469604, + 0.035084620118141174, + 0.09601214528083801, + 3.090391159057617, + -0.22425726056098938, + -0.09739644825458527 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 123, + 3, + 260, + 178 + ], + "lemon": [ + 384, + 433, + 475, + 568 + ], + "stove": [ + 200, + 161, + 954, + 930 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 5 cm, open gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36586686968803406, + 0.05189139023423195, + 0.09861402958631516, + 3.080807685852051, + -0.25863972306251526, + -0.12759776413440704 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 5 cm, open gripper; then move back 3 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36912450194358826, + 0.06751255691051483, + 0.08686739951372147, + 3.0565860271453857, + -0.2666640281677246, + -0.14772285521030426 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, open gripper; then move back 4 cm, move right 4 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3731788098812103, + 0.08372240513563156, + 0.08298330008983612, + 3.048849582672119, + -0.2889018654823303, + -0.16190330684185028 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 4 cm, open gripper; then move back 4 cm, move right 5 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3739253282546997, + 0.09712633490562439, + 0.07345013320446014, + 3.036649703979492, + -0.2866375148296356, + -0.16275997459888458 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 3 cm, open gripper; then move back 4 cm, move right 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3749164342880249, + 0.10711673647165298, + 0.07416056841611862, + 3.0405235290527344, + -0.3147578537464142, + -0.15464460849761963 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 4 cm, move right 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3687693178653717, + 0.10959842801094055, + 0.06391606479883194, + 3.040255069732666, + -0.3125513195991516, + -0.1501297652721405 + ], + "gripper_value": 0.10713252425193787 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 4 cm, move right 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555419147014618, + 0.10628122836351395, + 0.046002522110939026, + 3.0311245918273926, + -0.28360629081726074, + -0.11868353188037872 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "reposition pot on burner", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 4 cm, move right 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452571928501129, + 0.09776584804058075, + 0.04627988860011101, + 3.0166819095611572, + -0.2878185212612152, + -0.09226154536008835 + ], + "gripper_value": 0.5640211701393127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.33725669980049133, + 0.08737912029027939, + 0.050255272537469864, + 3.010296583175659, + -0.2824172079563141, + -0.0715407207608223 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 5 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3290046453475952, + 0.07866369187831879, + 0.059831079095602036, + 3.0004472732543945, + -0.2763485610485077, + -0.056830476969480515 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177814185619354, + 0.06803037971258163, + 0.07155938446521759, + 2.989255428314209, + -0.2666751742362976, + -0.034651633352041245 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3094967007637024, + 0.0572989322245121, + 0.0930669829249382, + 3.0011868476867676, + -0.2518163025379181, + -0.008235505782067776 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is currently grasped and being repositioned over the stove burner. The gripper is closed and stable, indicating a firm hold. The next action is to lower and release the pot onto the correct burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.30056455731391907, + 0.04853891581296921, + 0.11020366847515106, + 3.006305456161499, + -0.2058926373720169, + -0.01468115858733654 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "lemon": [ + 384, + 433, + 475, + 567 + ], + "utensil holder": [ + 102, + 412, + 240, + 535 + ], + "utensils": [ + 548, + 349, + 713, + 506 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005566895008087, + 0.04799975827336311, + 0.11238692700862885, + 3.006038188934326, + -0.20963923633098602, + -0.01082292664796114 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005566895008087, + 0.04799975827336311, + 0.11238692700862885, + 3.006038188934326, + -0.20963923633098602, + -0.01082292664796114 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005566895008087, + 0.04799975827336311, + 0.11238692700862885, + 3.006038188934326, + -0.20963923633098602, + -0.01082292664796114 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.30051714181900024, + 0.04899436607956886, + 0.11265015602111816, + 3.0134623050689697, + -0.21584223210811615, + -0.006970979738980532 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move down 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802850604057312, + 0.044682808220386505, + 0.11607668548822403, + 3.0885698795318604, + -0.30916324257850647, + 0.004698694217950106 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "release pot and retreat", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 10 degrees, keep gripper open; then move down 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 47 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 47 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.26824644207954407, + 0.04117082059383392, + 0.11466222256422043, + -3.078572988510132, + -0.37265539169311523, + 0.010173332877457142 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.26579052209854126, + 0.04341655224561691, + 0.10868556052446365, + -2.99271559715271, + -0.39877229928970337, + -0.009517325088381767 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664813697338104, + 0.04603659361600876, + 0.1041671633720398, + -2.943472146987915, + -0.4316066801548004, + -0.014288647100329399 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.26706382632255554, + 0.04752029851078987, + 0.09863407164812088, + -2.950810432434082, + -0.46587610244750977, + -0.010217729955911636 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667948007583618, + 0.04829655960202217, + 0.08551391959190369, + -2.981271505355835, + -0.4681144952774048, + 0.008427377790212631 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is now positioned on the stove burner, and the gripper is open, indicating the release action is complete. The robot has successfully placed the pot and is currently retreating from the stove area. The next step is to proceed with picking up the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.26619774103164673, + 0.049728140234947205, + 0.071127749979496, + -3.0260376930236816, + -0.46324679255485535, + 0.024430740624666214 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.2652473449707031, + 0.04918799176812172, + 0.06098455190658569, + -3.062321901321411, + -0.46712997555732727, + 0.040331967175006866 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.26373323798179626, + 0.04760858789086342, + 0.05051764100790024, + -3.094346046447754, + -0.482963889837265, + 0.05871453881263733 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "lemon": [ + 384, + 433, + 476, + 567 + ], + "utensil holder": [ + 425, + 196, + 702, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.26344403624534607, + 0.04517927020788193, + 0.042215485125780106, + -3.114314317703247, + -0.5043882131576538, + 0.06279502809047699 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646738290786743, + 0.04386391490697861, + 0.035990167409181595, + -3.1267614364624023, + -0.5300615429878235, + 0.07388251274824142 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, close gripper; then move forward 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.2653731107711792, + 0.043659113347530365, + 0.03300714120268822, + -3.1293716430664062, + -0.5514669418334961, + 0.07890685647726059 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 4 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.26526498794555664, + 0.041889738291502, + 0.03211427479982376, + -3.135936737060547, + -0.5612794160842896, + 0.08936464786529541 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 48, + "end": 59 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.26250287890434265, + 0.03747930750250816, + 0.031133390963077545, + 3.133758544921875, + -0.5444298386573792, + 0.12428757548332214 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.2547818720340729, + 0.03243197128176689, + 0.033490877598524094, + 3.1112446784973145, + -0.5020613670349121, + 0.14807678759098053 + ], + "gripper_value": 0.6219554543495178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.2493547946214676, + 0.02883659489452839, + 0.03398803994059563, + 3.0827817916870117, + -0.4686664938926697, + 0.17632141709327698 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2486245036125183, + 0.026153715327382088, + 0.04086923971772194, + 3.069241762161255, + -0.45031437277793884, + 0.17168258130550385 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527880072593689, + 0.03176742047071457, + 0.06087039038538933, + 3.070444107055664, + -0.4354720413684845, + 0.15780870616436005 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "lemon": [ + 380, + 448, + 472, + 577 + ], + "utensil holder": [ + 415, + 195, + 706, + 503 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.2582070231437683, + 0.04038547724485397, + 0.08853057771921158, + 3.083268880844116, + -0.43228679895401, + 0.11397600173950195 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "lemon": [ + 363, + 367, + 454, + 511 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.26383212208747864, + 0.046289943158626556, + 0.10032302886247635, + 3.0654962062835693, + -0.44885411858558655, + 0.08896853774785995 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently hovering directly above the potato, which is resting on the stovetop. The gripper is open and positioned for contact. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 53 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.2787400186061859, + 0.05119030922651291, + 0.11286714673042297, + 3.0439960956573486, + -0.46819883584976196, + 0.07476785033941269 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.2980445623397827, + 0.051434583961963654, + 0.10661820322275162, + 3.0170950889587402, + -0.48707032203674316, + 0.06590791791677475 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136008083820343, + 0.05198897793889046, + 0.0982036143541336, + 2.9864301681518555, + -0.5010049343109131, + 0.07177001982927322 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3201185166835785, + 0.05204715579748154, + 0.09372134506702423, + 2.9768612384796143, + -0.5243889689445496, + 0.08160829544067383 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.32782021164894104, + 0.04754307493567467, + 0.09460219740867615, + 2.968815803527832, + -0.5654802918434143, + 0.08750581741333008 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.32834896445274353, + 0.04581768438220024, + 0.09341659396886826, + 2.9803624153137207, + -0.5772730112075806, + 0.07044058293104172 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.32406437397003174, + 0.044023361057043076, + 0.0896730050444603, + 2.9728033542633057, + -0.5573276281356812, + 0.06567564606666565 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167985677719116, + 0.04240405559539795, + 0.08597807586193085, + 2.982067108154297, + -0.5251972079277039, + 0.05482153594493866 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stove area" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "reposition pot on burner" + }, + { + "id": 4, + "subtask": "release pot and retreat" + }, + { + "id": 5, + "subtask": "approach potato" + }, + { + "id": 6, + "subtask": "grasp and place potato in pot" + } + ], + "subtask_name": "grasp and place potato in pot", + "subtask_reasoning": "The pot is already positioned on the stove burner. The robot arm is currently holding a potato directly above the pot, having completed the approach and grasp phases. The next action is to release the potato so it falls into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 74 + }, + "cache_ref": { + "anchor_ref_reasoning": 67 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 60, + "end": 74 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000727_ecot.json b/cot/chunk-0000/episode_0000727_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d9e29efce2b44480cde7fd1c7eb61df72a7387ac --- /dev/null +++ b/cot/chunk-0000/episode_0000727_ecot.json @@ -0,0 +1,1923 @@ +{ + "task_name": "episode_0000727", + "episode_json": "json/chunk-0000/episode_0000727.json", + "video_path": "videos/chunk-0000/image_0/episode_0000727.mp4", + "instruction": "Put the Strawberry on the middle of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000727.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.19376099109649658, + "std": 0.08768340200185776, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.19376, std=0.08768, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 13 + ], + [ + 3, + 14, + 22 + ], + [ + 4, + 23, + 25 + ], + [ + 5, + 26, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach strawberry\", \"start\": 0, \"end\": 9, \"planning\": \"Move the gripper from initial position down toward the strawberry on the green cloth, making contact by frame 9.\"},\n {\"id\": 2, \"name\": \"grasp strawberry\", \"start\": 10, \"end\": 13, \"planning\": \"Close gripper around the strawberry and secure hold, as evidenced by meaningful gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and transport strawberry\", \"start\": 14, \"end\": 22, \"planning\": \"Lift the grasped strawberry and move it toward the center of the table, maintaining grip throughout motion.\"},\n {\"id\": 4, \"name\": \"release strawberry at target\", \"start\": 23, \"end\": 25, \"planning\": \"Open gripper to release the strawberry onto the table surface near the metal bowl, completing placement.\"},\n {\"id\": 5, \"name\": \"retreat from release point\", \"start\": 26, \"end\": 27, \"planning\": \"Withdraw the gripper upward and away from the released strawberry to conclude the task.\"}\n ],\n \"global_plan\": \"Approach the strawberry on the green cloth, grasp it securely, lift and carry it to the middle of the table near the metal bowl, release it there, then retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach and contact. Segment 2 confirms grasp via gripper delta and image consistency. Segment 3 (not explicitly detailed but inferred from motion continuity) involves lifting and moving while holding. Segment 4 shows gripper opening and object release. Segment 5 is retreat with open gripper. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach strawberry", + "start": 0, + "end": 9, + "planning": "Move the gripper from initial position down toward the strawberry on the green cloth, making contact by frame 9." + }, + { + "id": 2, + "name": "grasp strawberry", + "start": 10, + "end": 13, + "planning": "Close gripper around the strawberry and secure hold, as evidenced by meaningful gripper closure and stable pose." + }, + { + "id": 3, + "name": "lift and transport strawberry", + "start": 14, + "end": 22, + "planning": "Lift the grasped strawberry and move it toward the center of the table, maintaining grip throughout motion." + }, + { + "id": 4, + "name": "release strawberry at target", + "start": 23, + "end": 25, + "planning": "Open gripper to release the strawberry onto the table surface near the metal bowl, completing placement." + }, + { + "id": 5, + "name": "retreat from release point", + "start": 26, + "end": 27, + "planning": "Withdraw the gripper upward and away from the released strawberry to conclude the task." + } + ], + "global_plan": "Approach the strawberry on the green cloth, grasp it securely, lift and carry it to the middle of the table near the metal bowl, release it there, then retreat.", + "notes": "Segment 1 shows no gripper closure — only approach and contact. Segment 2 confirms grasp via gripper delta and image consistency. Segment 3 (not explicitly detailed but inferred from motion continuity) involves lifting and moving while holding. Segment 4 shows gripper opening and object release. Segment 5 is retreat with open gripper. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37315934896469116, + -0.086487777531147, + 0.0806354209780693, + 3.035309076309204, + -0.3881136178970337, + 0.5057894587516785 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table with the strawberry visible on the green cloth below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to move the end effector closer to the strawberry to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move left 3 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36832618713378906, + -0.08576769381761551, + 0.06680670380592346, + 3.0597548484802246, + -0.3583141267299652, + 0.49865564703941345 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table with the strawberry visible on the green cloth below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to move the end effector closer to the strawberry to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33599644899368286, + -0.09380725771188736, + 0.05770034343004227, + 3.040160655975342, + -0.3293272852897644, + 0.4645012319087982 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table with the strawberry visible on the green cloth below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to move the end effector closer to the strawberry to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31874820590019226, + -0.097328320145607, + 0.07297953218221664, + 3.004991054534912, + -0.3901178240776062, + 0.48313698172569275 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table with the strawberry visible on the green cloth below. No movement or grasping has occurred yet as this is the initial frame. The next action should be to move the end effector closer to the strawberry to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 4 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30201858282089233, + -0.10167040675878525, + 0.08390279114246368, + 3.00228214263916, + -0.4187004864215851, + 0.48111119866371155 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near a metal bowl and a green cloth with a strawberry on it. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to move its end-effector closer to the strawberry on the green cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 5 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2722349464893341, + -0.10801179707050323, + 0.08284451812505722, + 2.974182605743408, + -0.41159966588020325, + 0.4417017996311188 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near a metal bowl and a green cloth with a strawberry on it. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to move its end-effector closer to the strawberry on the green cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2480853646993637, + -0.10484468936920166, + 0.06101104989647865, + 3.034078359603882, + -0.3948822319507599, + 0.38002732396125793 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near a metal bowl and a green cloth with a strawberry on it. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to move its end-effector closer to the strawberry on the green cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2313837707042694, + -0.08346741646528244, + 0.032545145601034164, + 3.087117910385132, + -0.3457176983356476, + 0.3871254622936249 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 32, + 358, + 996, + 996 + ], + "green napkin": [ + 400, + 718, + 677, + 996 + ], + "strawberry": [ + 481, + 782, + 599, + 946 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near a metal bowl and a green cloth with a strawberry on it. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to move its end-effector closer to the strawberry on the green cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21990063786506653, + -0.061988964676856995, + 0.018912985920906067, + 3.0910189151763916, + -0.30262115597724915, + 0.46293437480926514 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near a metal bowl and a green cloth with a strawberry on it. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to move its end-effector closer to the strawberry on the green cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 10 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20921805500984192, + -0.054335251450538635, + 0.0007931405561976135, + 3.098992109298706, + -0.24270018935203552, + 0.4969790577888489 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near a metal bowl and a green cloth with a strawberry on it. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to move its end-effector closer to the strawberry on the green cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 10 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20639415085315704, + -0.05247258394956589, + -0.013943633064627647, + -3.1320650577545166, + -0.2042226493358612, + 0.4755581021308899 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near a metal bowl and a green cloth with a strawberry on it. No actions have been completed yet as the gripper remains open and stationary relative to the target. The robot needs to move its end-effector closer to the strawberry on the green cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20686833560466766, + -0.05673439800739288, + -0.016287874430418015, + -3.128818988800049, + -0.20216819643974304, + 0.4578140676021576 + ], + "gripper_value": 0.817743182182312 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly over the strawberry on the green cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move forward 11 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2076788693666458, + -0.05797407776117325, + -0.016240332275629044, + -3.1212775707244873, + -0.20707586407661438, + 0.4519312083721161 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly over the strawberry on the green cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper closed; then move forward 11 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2085978388786316, + -0.05816121771931648, + -0.01371685042977333, + -3.1120493412017822, + -0.19914911687374115, + 0.4783547520637512 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly over the strawberry on the green cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper closed; then move forward 11 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22434990108013153, + -0.061786383390426636, + 0.00931777898222208, + 3.133463144302368, + -0.2564062178134918, + 0.5056806802749634 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly over the strawberry on the green cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2404928207397461, + -0.06027442216873169, + 0.028618035838007927, + 3.110172986984253, + -0.3019881546497345, + 0.5443892478942871 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly over the strawberry on the green cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641550600528717, + -0.04966208338737488, + 0.04799194633960724, + 3.107422113418579, + -0.3469729721546173, + 0.6102054119110107 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 33, + 272, + 996, + 995 + ], + "metal bowl": [ + 679, + 356, + 864, + 624 + ], + "green napkin": [ + 392, + 720, + 671, + 997 + ], + "strawberry": [ + 504, + 583, + 616, + 717 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly over the strawberry on the green cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958243787288666, + -0.029788339510560036, + 0.04991292580962181, + 3.0713508129119873, + -0.3571613132953644, + 0.7001734375953674 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly over the strawberry on the green cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the strawberry. The next action is to fully close the gripper to grasp the strawberry before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32390516996383667, + -0.012295383028686047, + 0.037312913686037064, + 3.0513949394226074, + -0.3440358340740204, + 0.75182044506073 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 649, + 360, + 864, + 623 + ], + "wooden table": [ + 32, + 270, + 996, + 995 + ], + "green napkin": [ + 393, + 720, + 670, + 997 + ], + "strawberry": [ + 511, + 433, + 612, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the table surface near the metal bowl. The gripper is closed and holding the strawberry securely. The next action is to transport the strawberry toward the center of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284599483013153, + -0.009138515219092369, + 0.010464154183864594, + 3.0903799533843994, + -0.29697391390800476, + 0.7365993857383728 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the table surface near the metal bowl. The gripper is closed and holding the strawberry securely. The next action is to transport the strawberry toward the center of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33021241426467896, + -0.010762671940028667, + -0.010628953576087952, + 3.1011369228363037, + -0.27323096990585327, + 0.7283338904380798 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the table surface near the metal bowl. The gripper is closed and holding the strawberry securely. The next action is to transport the strawberry toward the center of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33414673805236816, + -0.012565795332193375, + -0.013788584619760513, + 3.1076247692108154, + -0.2718929946422577, + 0.7276061177253723 + ], + "gripper_value": 0.8625253438949585 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the table surface near the metal bowl. The gripper is closed and holding the strawberry securely. The next action is to transport the strawberry toward the center of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33530494570732117, + -0.012257341295480728, + -0.012191464193165302, + 3.1277880668640137, + -0.30870553851127625, + 0.7313214540481567 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "lift and transport strawberry", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the table surface near the metal bowl. The gripper is closed and holding the strawberry securely. The next action is to transport the strawberry toward the center of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33386653661727905, + -0.017343569546937943, + -0.009394537657499313, + -3.107609987258911, + -0.3173922598361969, + 0.6854605078697205 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "release strawberry at target", + "subtask_reasoning": "The robot has successfully grasped the strawberry and is currently lifting it above the table surface near the metal bowl. The gripper is closed and holding the strawberry securely. The next action is to transport the strawberry toward the center of the table for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300674855709076, + -0.018580546602606773, + -0.005387248005717993, + -3.046086549758911, + -0.3253190815448761, + 0.6611133217811584 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "release strawberry at target", + "subtask_reasoning": "The strawberry is currently held by the gripper and positioned near the metal bowl on the table, slightly above the surface. The gripper is open, indicating the release action is in progress or just completed. The next step is to ensure the strawberry is fully released and the arm retreats slightly to confirm placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.33558157086372375, + -0.020648447796702385, + 0.019337350502610207, + -3.1056034564971924, + -0.3673906922340393, + 0.6992353200912476 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "release strawberry at target", + "subtask_reasoning": "The strawberry is currently held by the gripper and positioned near the metal bowl on the table, slightly above the surface. The gripper is open, indicating the release action is in progress or just completed. The next step is to ensure the strawberry is fully released and the arm retreats slightly to confirm placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340381979942322, + -0.016531063243746758, + 0.05097957327961922, + 3.1053316593170166, + -0.41484224796295166, + 0.7619284391403198 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "retreat from release point", + "subtask_reasoning": "The strawberry has been successfully placed on the table near the metal bowl. The gripper is open and the arm is positioned above the release point. The next action is to retract the arm upward and backward to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306334614753723, + -0.010587872937321663, + 0.07253335416316986, + 3.0144004821777344, + -0.4032580256462097, + 0.8100681900978088 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry in the center of the table, away from the green cloth and near the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport strawberry" + }, + { + "id": 4, + "subtask": "release strawberry at target" + }, + { + "id": 5, + "subtask": "retreat from release point" + } + ], + "subtask_name": "retreat from release point", + "subtask_reasoning": "The strawberry has been successfully placed on the table near the metal bowl. The gripper is open and the arm is positioned above the release point. The next action is to retract the arm upward and backward to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000728_ecot.json b/cot/chunk-0000/episode_0000728_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7fc5ba59f14d17651678df7d7cb3c6037e283a67 --- /dev/null +++ b/cot/chunk-0000/episode_0000728_ecot.json @@ -0,0 +1,975 @@ +{ + "task_name": "episode_0000728", + "episode_json": "json/chunk-0000/episode_0000728.json", + "video_path": "videos/chunk-0000/image_0/episode_0000728.mp4", + "instruction": "Put cup from counter or drying rack into sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 14, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000728.json" + }, + "fps": 5.0, + "T_eff": 14, + "gripper_behavior_summary": { + "available": true, + "range": 0.19177591800689697, + "std": 0.09322084486484528, + "delta_total": -0.19177591800689697, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.19178, std=0.09322, total_delta=-0.19178). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cup in drying rack\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the blue cup located in the yellow drying rack on the left side of the sink.\"},\n {\"id\": 2, \"name\": \"close gripper to grasp cup\", \"start\": 5, \"end\": 7, \"planning\": \"Close gripper around the blue cup while maintaining contact; gripper value drops significantly indicating meaningful closing.\"},\n {\"id\": 3, \"name\": \"lift and reposition cup over sink\", \"start\": 8, \"end\": 11, \"planning\": \"Lift the grasped cup from the drying rack and move it horizontally over the center of the sink basin.\"},\n {\"id\": 4, \"name\": \"release cup into sink\", \"start\": 12, \"end\": 13, \"planning\": \"Open gripper to release the cup into the sink; final frame shows cup no longer held and gripper remains open.\"}\n ],\n \"global_plan\": \"Grasp the blue cup from the drying rack, lift it, move it over the sink, and release it into the basin.\",\n \"notes\": \"Gripper evidence supports grasp between frames 5-7 (delta=-0.19178). Frame 0 shows cup in rack, frame 13 shows cup released in sink. Motion is contiguous and covers all 14 frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cup in drying rack", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the blue cup located in the yellow drying rack on the left side of the sink." + }, + { + "id": 2, + "name": "close gripper to grasp cup", + "start": 5, + "end": 7, + "planning": "Close gripper around the blue cup while maintaining contact; gripper value drops significantly indicating meaningful closing." + }, + { + "id": 3, + "name": "lift and reposition cup over sink", + "start": 8, + "end": 11, + "planning": "Lift the grasped cup from the drying rack and move it horizontally over the center of the sink basin." + }, + { + "id": 4, + "name": "release cup into sink", + "start": 12, + "end": 13, + "planning": "Open gripper to release the cup into the sink; final frame shows cup no longer held and gripper remains open." + } + ], + "global_plan": "Grasp the blue cup from the drying rack, lift it, move it over the sink, and release it into the basin.", + "notes": "Gripper evidence supports grasp between frames 5-7 (delta=-0.19178). Frame 0 shows cup in rack, frame 13 shows cup released in sink. Motion is contiguous and covers all 14 frames." + } + }, + "episode_goal": "Pick up the blue cup from the drying rack and place it into the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21254593133926392, + 0.10458894073963165, + 0.18314801156520844, + -3.129690170288086, + -0.18024258315563202, + 0.11800913512706757 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach cup in drying rack", + "subtask_reasoning": "The robot is positioned near the drying rack with the blue cup visible inside. No movement or grasping has occurred yet, as the gripper remains open and stationary. The next action should be to move the end effector closer to the blue cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2138730138540268, + 0.10446295142173767, + 0.16943134367465973, + -3.1415579319000244, + -0.16121971607208252, + 0.1284637302160263 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach cup in drying rack", + "subtask_reasoning": "The robot is positioned near the drying rack with the blue cup visible inside. No movement or grasping has occurred yet, as the gripper remains open and stationary. The next action should be to move the end effector closer to the blue cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21780996024608612, + 0.10576791316270828, + 0.15287533402442932, + 3.1257107257843018, + -0.14331360161304474, + 0.12684160470962524 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach cup in drying rack", + "subtask_reasoning": "The robot arm is positioned near the drying rack with the blue cup visible inside. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the blue cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22153156995773315, + 0.10916533321142197, + 0.13440808653831482, + 3.113884687423706, + -0.1223992258310318, + 0.12778989970684052 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white utensil": [ + 620, + 427, + 894, + 711 + ], + "striped ball": [ + 544, + 492, + 708, + 687 + ], + "blue cup": [ + 168, + 277, + 291, + 459 + ], + "purple bottle": [ + 594, + 129, + 699, + 280 + ], + "orange bottle": [ + 897, + 70, + 996, + 315 + ], + "yellow dish rack": [ + 13, + 82, + 495, + 498 + ], + "black faucet": [ + 32, + 15, + 311, + 314 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach cup in drying rack", + "subtask_reasoning": "The robot arm is positioned near the drying rack with the blue cup visible inside. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the blue cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22438791394233704, + 0.1104457750916481, + 0.1202683374285698, + 3.1026289463043213, + -0.09210319072008133, + 0.1293525993824005 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach cup in drying rack", + "subtask_reasoning": "The robot arm is positioned near the drying rack with the blue cup visible inside. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the blue cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22775594890117645, + 0.11163640767335892, + 0.1098543256521225, + 3.0805466175079346, + -0.07779648154973984, + 0.12592153251171112 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "close gripper to grasp cup", + "subtask_reasoning": "The robot arm is positioned near the drying rack with the blue cup visible inside. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the gripper closer to the blue cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22579805552959442, + 0.11327776312828064, + 0.10086441040039062, + 3.061295986175537, + -0.05443716421723366, + 0.12761162221431732 + ], + "gripper_value": 0.8481387495994568 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "close gripper to grasp cup", + "subtask_reasoning": "The robot's end-effector is positioned near the blue cup in the drying rack, with the gripper partially open. The gripper has begun closing as indicated by the decreasing gripper value, suggesting the start of a grasp. The next action is to continue closing the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22390690445899963, + 0.11310333013534546, + 0.10115103423595428, + 3.062372922897339, + -0.04390793666243553, + 0.12549394369125366 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "close gripper to grasp cup", + "subtask_reasoning": "The robot's end-effector is positioned near the blue cup in the drying rack, with the gripper partially open. The gripper has begun closing as indicated by the decreasing gripper value, suggesting the start of a grasp. The next action is to continue closing the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22058089077472687, + 0.1101609617471695, + 0.11526759713888168, + 3.0801477432250977, + -0.058134522289037704, + 0.1251254677772522 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and reposition cup over sink", + "subtask_reasoning": "The robot's end-effector is positioned near the blue cup in the drying rack, with the gripper partially open. The gripper has begun closing as indicated by the decreasing gripper value, suggesting the start of a grasp. The next action is to continue closing the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22634443640708923, + 0.1026177704334259, + 0.14197604358196259, + 3.1043293476104736, + -0.10743693262338638, + 0.1041254997253418 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and reposition cup over sink", + "subtask_reasoning": "The blue cup has been grasped from the drying rack and is currently being lifted and repositioned over the sink. The gripper remains closed with no further closing motion, indicating the cup is held securely. The next action is to continue moving the cup toward the center of the sink basin for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23136435449123383, + 0.08311017602682114, + 0.17456774413585663, + 3.1281578540802, + -0.1692546159029007, + 0.0736611858010292 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and reposition cup over sink", + "subtask_reasoning": "The blue cup has been grasped from the drying rack and is currently being lifted and repositioned over the sink. The gripper remains closed with no further closing motion, indicating the cup is held securely. The next action is to continue moving the cup toward the center of the sink basin for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 3 cm, tilt right 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2307373434305191, + 0.055450521409511566, + 0.1968555748462677, + 3.1197824478149414, + -0.22824160754680634, + 0.03137866407632828 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white utensil": [ + 621, + 427, + 894, + 711 + ], + "striped ball": [ + 544, + 492, + 708, + 687 + ], + "orange bottle": [ + 897, + 69, + 996, + 315 + ], + "blue cup": [ + 206, + 12, + 355, + 266 + ], + "purple bottle": [ + 593, + 129, + 700, + 280 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and reposition cup over sink", + "subtask_reasoning": "The blue cup has been grasped from the drying rack and is currently being lifted and repositioned over the sink. The gripper remains closed with no further closing motion, indicating the cup is held securely. The next action is to continue moving the cup toward the center of the sink basin for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22594831883907318, + 0.022432653233408928, + 0.2011689841747284, + 3.0525450706481934, + -0.19215311110019684, + 0.0029909329023212194 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The blue cup is already resting in the sink basin, indicating the release action has been completed. The gripper is open and positioned above the sink with no contact with the cup. No further action is required for this subtask as the cup is successfully placed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2238215208053589, + 0.009791328571736813, + 0.20071816444396973, + 3.0159099102020264, + -0.1739525943994522, + 0.02068428508937359 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the drying rack and place it into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in drying rack" + }, + { + "id": 2, + "subtask": "close gripper to grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup over sink" + }, + { + "id": 4, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The blue cup is already resting in the sink basin, indicating the release action has been completed. The gripper is open and positioned above the sink with no contact with the cup. No further action is required for this subtask as the cup is successfully placed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 13 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000729_ecot.json b/cot/chunk-0000/episode_0000729_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0c9b4bfddde5a9420349a8c7fa2e991098b0ca26 --- /dev/null +++ b/cot/chunk-0000/episode_0000729_ecot.json @@ -0,0 +1,1215 @@ +{ + "task_name": "episode_0000729", + "episode_json": "json/chunk-0000/episode_0000729.json", + "video_path": "videos/chunk-0000/image_0/episode_0000729.mp4", + "instruction": "Flip cup upright.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000729.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006452798843383789, + "std": 0.0003161212953273207, + "delta_total": -0.0006452798843383789, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00065, std=0.00032, total_delta=-0.00065). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 7 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cup\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the pink cup in the basin without grasping, as gripper remains open throughout.\"},\n {\"id\": 2, \"name\": \"contact and nudge cup\", \"start\": 8, \"end\": 10, \"planning\": \"Make physical contact with the cup and apply slight nudging motion to initiate flipping, while maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"reposition after flip\", \"start\": 11, \"end\": 19, \"planning\": \"Retreat and reposition end-effector away from the now-upright cup, completing the flip task without lifting or placing.\"}\n ],\n \"global_plan\": \"Flip the cup upright by approaching, making contact to nudge it over, then retreating — all without grasping, since gripper never closes meaningfully.\",\n \"notes\": \"Gripper evidence across all segments shows no meaningful closing (max delta = -0.00065), so no grasp/lift/place actions are inferred. Motion is contact-based manipulation only.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cup", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the pink cup in the basin without grasping, as gripper remains open throughout." + }, + { + "id": 2, + "name": "contact and nudge cup", + "start": 8, + "end": 10, + "planning": "Make physical contact with the cup and apply slight nudging motion to initiate flipping, while maintaining open gripper." + }, + { + "id": 3, + "name": "reposition after flip", + "start": 11, + "end": 19, + "planning": "Retreat and reposition end-effector away from the now-upright cup, completing the flip task without lifting or placing." + } + ], + "global_plan": "Flip the cup upright by approaching, making contact to nudge it over, then retreating — all without grasping, since gripper never closes meaningfully.", + "notes": "Gripper evidence across all segments shows no meaningful closing (max delta = -0.00065), so no grasp/lift/place actions are inferred. Motion is contact-based manipulation only." + } + }, + "episode_goal": "Flip the pink cup upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30422404408454895, + -0.08595288544893265, + 0.16478145122528076, + -3.064215660095215, + -0.15802232921123505, + -1.2679038047790527 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup lying on its side below. No actions have been completed yet as the robot is just beginning to approach. The gripper remains open, indicating no grasping will occur. The next action is to lower the end-effector to make contact with the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3021976351737976, + -0.08217409998178482, + 0.15698780119419098, + -3.071218729019165, + -0.12245611101388931, + -1.3208096027374268 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup lying on its side below. No actions have been completed yet as the robot is just beginning to approach. The gripper remains open, indicating no grasping will occur. The next action is to lower the end-effector to make contact with the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29372158646583557, + -0.07553314417600632, + 0.14990699291229248, + -3.0963008403778076, + -0.06609715521335602, + -1.4591156244277954 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup lying on its side below. No actions have been completed yet as the robot is just beginning to approach. The gripper remains open, indicating no grasping will occur. The next action is to lower the end-effector to make contact with the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817939519882202, + -0.07160335779190063, + 0.1449648141860962, + -3.123459815979004, + -0.045211393386125565, + -1.5716934204101562 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cup to prepare for nudging it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28373345732688904, + -0.07391918450593948, + 0.14040544629096985, + -3.110224485397339, + -0.059932515025138855, + -1.6407092809677124 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cup to prepare for nudging it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29294294118881226, + -0.07822522521018982, + 0.11834581196308136, + -3.130103588104248, + -0.06666888296604156, + -1.681670904159546 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cup to prepare for nudging it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31447339057922363, + -0.08533173054456711, + 0.11271896958351135, + -3.0833940505981445, + -0.08075631409883499, + -1.7064611911773682 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cup to prepare for nudging it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32834765315055847, + -0.09094543009996414, + 0.10091660171747208, + -3.113443374633789, + -0.08168899267911911, + -1.7389552593231201 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white box": [ + 152, + 305, + 270, + 434 + ], + "dish drainer": [ + 689, + 207, + 993, + 498 + ], + "blue basin": [ + 307, + 409, + 983, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cup to prepare for nudging it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292873501777649, + -0.0891055315732956, + 0.0952773317694664, + 3.12640380859375, + -0.07286643981933594, + -1.747216820716858 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "contact and nudge cup", + "subtask_reasoning": "The robot is positioned above the sink with the pink cup visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the cup to prepare for nudging it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.324930340051651, + -0.08377345651388168, + 0.09357216209173203, + 3.095953941345215, + -0.06756319850683212, + -1.7376078367233276 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "contact and nudge cup", + "subtask_reasoning": "The robot arm is positioned directly above the pink cup in the sink, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping strategy. The next action is to lower the end-effector to make physical contact and nudge the cup upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.328322172164917, + -0.07531848549842834, + 0.10157129168510437, + 3.11086368560791, + -0.04105151444673538, + -1.730919599533081 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "contact and nudge cup", + "subtask_reasoning": "The robot arm is positioned directly above the pink cup in the sink, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping strategy. The next action is to lower the end-effector to make physical contact and nudge the cup upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343901038169861, + -0.06872198730707169, + 0.13146591186523438, + -3.0252294540405273, + -0.007735362276434898, + -1.684178113937378 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The robot arm is positioned directly above the pink cup in the sink, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping strategy. The next action is to lower the end-effector to make physical contact and nudge the cup upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3265390992164612, + -0.06378098577260971, + 0.15388748049736023, + -2.947451591491699, + 0.004773198161274195, + -1.6472454071044922 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish drainer": [ + 661, + 209, + 992, + 496 + ], + "white box": [ + 152, + 303, + 269, + 430 + ], + "blue basin": [ + 308, + 415, + 990, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The robot arm is positioned directly above the pink cup in the sink, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping strategy. The next action is to lower the end-effector to make physical contact and nudge the cup upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31332316994667053, + -0.06893891096115112, + 0.15206566452980042, + -2.974057912826538, + 0.00027779879746958613, + -1.6550301313400269 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The robot arm is positioned directly above the pink cup in the sink, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping strategy. The next action is to lower the end-effector to make physical contact and nudge the cup upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30136606097221375, + -0.07362297177314758, + 0.15098296105861664, + -2.9766957759857178, + -0.03941534087061882, + -1.6625124216079712 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The robot arm is positioned directly above the pink cup in the sink, having completed the approach phase. The gripper remains open with no closing evidence, indicating a non-grasping strategy. The next action is to lower the end-effector to make physical contact and nudge the cup upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29820263385772705, + -0.07281655073165894, + 0.14677567780017853, + -2.975585699081421, + -0.06441279500722885, + -1.6768519878387451 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The pink cup is now upright in the sink, indicating the flip was successful. The robot has completed contact and nudging, and is currently repositioning away from the cup. Next, it should continue retreating to finalize the subtask without further interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2983139753341675, + -0.07235903292894363, + 0.14677567780017853, + -2.975585699081421, + -0.06441278755664825, + -1.6753180027008057 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The pink cup is now upright in the sink, indicating the flip was successful. The robot has completed contact and nudging, and is currently repositioning away from the cup. Next, it should continue retreating to finalize the subtask without further interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981575131416321, + -0.07303435355424881, + 0.14678645133972168, + -2.975750207901001, + -0.06589287519454956, + -1.6764730215072632 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The pink cup is now upright in the sink, indicating the flip was successful. The robot has completed contact and nudging, and is currently repositioning away from the cup. Next, it should continue retreating to finalize the subtask without further interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981575131416321, + -0.07303435355424881, + 0.14678645133972168, + -2.975750207901001, + -0.06589287519454956, + -1.6764730215072632 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The pink cup is now upright in the sink, indicating the flip was successful. The robot has completed contact and nudging, and is currently repositioning away from the cup. Next, it should continue retreating to finalize the subtask without further interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2979223430156708, + -0.07298774272203445, + 0.14674517512321472, + -2.977278232574463, + -0.06574224680662155, + -1.676447868347168 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pink cup upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "contact and nudge cup" + }, + { + "id": 3, + "subtask": "reposition after flip" + } + ], + "subtask_name": "reposition after flip", + "subtask_reasoning": "The pink cup is now upright in the sink, indicating the flip was successful. The robot has completed contact and nudging, and is currently repositioning away from the cup. Next, it should continue retreating to finalize the subtask without further interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000730_ecot.json b/cot/chunk-0000/episode_0000730_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..16171536bf0f4ba29cabb0bbdb706c2f55fed833 --- /dev/null +++ b/cot/chunk-0000/episode_0000730_ecot.json @@ -0,0 +1,2174 @@ +{ + "task_name": "episode_0000730", + "episode_json": "json/chunk-0000/episode_0000730.json", + "video_path": "videos/chunk-0000/image_0/episode_0000730.mp4", + "instruction": "Upright metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000730.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.6512259840965271, + "std": 0.2919573187828064, + "delta_total": 0.0027303099632263184, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65123, std=0.29196, total_delta=0.00273). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 126, + 126, + 126, + 126, + 26, + 26 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 18 + ], + [ + 3, + 19, + 25 + ], + [ + 4, + 26, + 29 + ], + [ + 5, + 30, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pot\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector to the metal pot and close gripper to establish a secure grasp.\"},\n {\"id\": 2, \"name\": \"lift and reposition pot\", \"start\": 14, \"end\": 18, \"planning\": \"Lift the grasped pot slightly and begin rotating it toward upright orientation while maintaining grip.\"},\n {\"id\": 3, \"name\": \"rotate pot to upright\", \"start\": 19, \"end\": 25, \"planning\": \"Continue rotating the pot in gripper to achieve fully upright stance before placement.\"},\n {\"id\": 4, \"name\": \"place pot upright on surface\", \"start\": 26, \"end\": 29, \"planning\": \"Lower the upright pot onto the wooden surface and release gripper to complete placement.\"},\n {\"id\": 5, \"name\": \"retreat from placed pot\", \"start\": 30, \"end\": 31, \"planning\": \"Withdraw end-effector away from the now-upright pot to conclude the task.\"}\n ],\n \"global_plan\": \"Grasp the tilted metal pot, rotate it to upright orientation while holding, then place it securely on the surface and retreat.\",\n \"notes\": \"Segment 5 has no gripper motion — correctly labeled as retreat without grasp/place verbs. Segment 1 shows meaningful closing (delta=-0.32656) and image confirms contact/grasp initiation. Segment 4 shows opening (positive delta) consistent with release after placement. All subtasks are contiguous and cover full trajectory [0,31].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pot", + "start": 0, + "end": 13, + "planning": "Move end-effector to the metal pot and close gripper to establish a secure grasp." + }, + { + "id": 2, + "name": "lift and reposition pot", + "start": 14, + "end": 18, + "planning": "Lift the grasped pot slightly and begin rotating it toward upright orientation while maintaining grip." + }, + { + "id": 3, + "name": "rotate pot to upright", + "start": 19, + "end": 25, + "planning": "Continue rotating the pot in gripper to achieve fully upright stance before placement." + }, + { + "id": 4, + "name": "place pot upright on surface", + "start": 26, + "end": 29, + "planning": "Lower the upright pot onto the wooden surface and release gripper to complete placement." + }, + { + "id": 5, + "name": "retreat from placed pot", + "start": 30, + "end": 31, + "planning": "Withdraw end-effector away from the now-upright pot to conclude the task." + } + ], + "global_plan": "Grasp the tilted metal pot, rotate it to upright orientation while holding, then place it securely on the surface and retreat.", + "notes": "Segment 5 has no gripper motion — correctly labeled as retreat without grasp/place verbs. Segment 1 shows meaningful closing (delta=-0.32656) and image confirms contact/grasp initiation. Segment 4 shows opening (positive delta) consistent with release after placement. All subtasks are contiguous and cover full trajectory [0,31]." + } + }, + "episode_goal": "Upright the metal pot on the wooden board.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125847578048706, + 0.029068315401673317, + 0.10000733286142349, + -2.9483609199523926, + -0.27642184495925903, + 0.036502905189991 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The scene shows a tilted metal pot on a wooden board with a red pepper and orange slice nearby. The robot's gripper is open and positioned above the pot, ready to approach. No actions have been completed yet. The next action is to move the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088628947734833, + 0.02835535630583763, + 0.09199196100234985, + -2.950570821762085, + -0.2483063042163849, + 0.030795523896813393 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The scene shows a tilted metal pot on a wooden board with a red pepper and orange slice nearby. The robot's gripper is open and positioned above the pot, ready to approach. No actions have been completed yet. The next action is to move the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30265215039253235, + 0.0358840711414814, + 0.08870789408683777, + -2.9386818408966064, + -0.23500129580497742, + -0.058351870626211166 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The scene shows a tilted metal pot on a wooden board with a red pepper and orange slice nearby. The robot's gripper is open and positioned above the pot, ready to approach. No actions have been completed yet. The next action is to move the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29796895384788513, + 0.05219743028283119, + 0.10027739405632019, + -2.8405113220214844, + -0.23857665061950684, + -0.2252151072025299 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange slice": [ + 504, + 506, + 646, + 664 + ], + "red chili pepper": [ + 411, + 625, + 508, + 911 + ], + "pot": [ + 152, + 179, + 404, + 498 + ] + } + } + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The scene shows a tilted metal pot on a wooden board with a red pepper and orange slice nearby. The robot's gripper is open and positioned above the pot, ready to approach. No actions have been completed yet. The next action is to move the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29934602975845337, + 0.06273563951253891, + 0.10612689703702927, + -2.747976779937744, + -0.16868118941783905, + -0.37658876180648804 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The scene shows a tilted metal pot on a wooden board with a red pepper and orange slice nearby. The robot's gripper is open and positioned above the pot, ready to approach. No actions have been completed yet. The next action is to move the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082403838634491, + 0.07130176573991776, + 0.10496874898672104, + -2.7007274627685547, + -0.11651446670293808, + -0.42864522337913513 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The scene shows a tilted metal pot on a wooden board with a red pepper and orange slice nearby. The robot's gripper is open and positioned above the pot, ready to approach. No actions have been completed yet. The next action is to move the gripper closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31850719451904297, + 0.07995786517858505, + 0.10294467210769653, + -2.7166554927825928, + -0.09473937004804611, + -0.39890623092651367 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3237558901309967, + 0.0814272090792656, + 0.09547159075737, + -2.7512600421905518, + -0.0766119435429573, + -0.3558550775051117 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244667947292328, + 0.08349941670894623, + 0.09071654826402664, + -2.74666428565979, + -0.07105155289173126, + -0.3399323523044586 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 3 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32384616136550903, + 0.08678843826055527, + 0.08652156591415405, + -2.74690842628479, + -0.06239207088947296, + -0.32374316453933716 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3260611295700073, + 0.08992070704698563, + 0.0806480273604393, + -2.729377031326294, + -0.05210154876112938, + -0.3266753554344177 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, tilt right 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32670339941978455, + 0.09017222374677658, + 0.07339712977409363, + -2.726935386657715, + -0.03873640298843384, + -0.34198838472366333 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3235152065753937, + 0.08859088271856308, + 0.06444917619228363, + -2.7049477100372314, + -0.01836787350475788, + -0.36732712388038635 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, tilt right 30 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32168030738830566, + 0.08618149906396866, + 0.057698722928762436, + -2.663109302520752, + -0.014316791668534279, + -0.4121863543987274 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, tilt right 40 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214447796344757, + 0.08434812724590302, + 0.05315821245312691, + -2.632826328277588, + -0.0152320247143507, + -0.4633951187133789 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 3 cm, tilt right 40 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3210359811782837, + 0.08285393565893173, + 0.05006254091858864, + -2.6309571266174316, + -0.022361986339092255, + -0.48181819915771484 + ], + "gripper_value": 0.34288913011550903 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange slice": [ + 505, + 505, + 647, + 664 + ], + "pot": [ + 137, + 194, + 406, + 528 + ], + "red chili pepper": [ + 411, + 624, + 509, + 911 + ] + } + } + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The metal pot is currently tilted on the wooden board, with the gripper positioned above it. No grasping has occurred yet as the gripper remains open. The next action is to lower the gripper and close it around the pot to initiate the uprighting process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 4 cm, tilt right 40 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31476953625679016, + 0.08734465390443802, + 0.061608415096998215, + -2.666247606277466, + -0.05583329126238823, + -0.47960248589515686 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot is currently holding the metal pot, which is tilted and suspended above the wooden board. The gripper evidence confirms a stable grasp during this repositioning phase. The next action is to rotate the pot to an upright orientation before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 30 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 5 cm, tilt right 30 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3048809766769409, + 0.090607188642025, + 0.07555367797613144, + -2.775904417037964, + -0.09250354766845703, + -0.4901346266269684 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange slice": [ + 504, + 504, + 646, + 664 + ], + "red chili pepper": [ + 411, + 624, + 509, + 911 + ], + "pot": [ + 91, + 176, + 361, + 526 + ] + } + } + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot is currently holding the metal pot, which is tilted and suspended above the wooden board. The gripper evidence confirms a stable grasp during this repositioning phase. The next action is to rotate the pot to an upright orientation before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 5 cm, tilt right 30 degrees, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29944345355033875, + 0.09525503218173981, + 0.08808387815952301, + -2.9246506690979004, + -0.15536026656627655, + -0.4915826618671417 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot is currently holding the metal pot, which is tilted and suspended above the wooden board. The gripper evidence confirms a stable grasp during this repositioning phase. The next action is to rotate the pot to an upright orientation before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 5 cm, tilt right 30 degrees, tilt back 10 degrees, open gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29897618293762207, + 0.09524422138929367, + 0.10247451066970825, + 3.1268649101257324, + -0.25044602155685425, + -0.4860740900039673 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "rotate pot to upright", + "subtask_reasoning": "The robot is currently holding the metal pot, which is tilted and suspended above the wooden board. The gripper evidence confirms a stable grasp during this repositioning phase. The next action is to rotate the pot to an upright orientation before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, tilt right 30 degrees, tilt back 10 degrees, open gripper; then move left 1 cm, move up 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29760947823524475, + 0.08927986025810242, + 0.09666045755147934, + 2.8583388328552246, + -0.31031057238578796, + -0.47123825550079346 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "rotate pot to upright", + "subtask_reasoning": "The robot is currently holding the metal pot, which is tilted and suspended above the wooden board. The gripper evidence confirms a stable grasp during this repositioning phase. The next action is to rotate the pot to an upright orientation before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt right 20 degrees, open gripper; then move left 2 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29643672704696655, + 0.08013265579938889, + 0.09553463011980057, + 2.614307403564453, + -0.368108868598938, + -0.3906996548175812 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "rotate pot to upright", + "subtask_reasoning": "The robot is currently holding the metal pot, which is tilted and suspended above the wooden board. The gripper evidence confirms a stable grasp during this repositioning phase. The next action is to rotate the pot to an upright orientation before placing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt right 10 degrees, open gripper; then move left 2 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29073628783226013, + 0.07142403721809387, + 0.09079428762197495, + 2.5108659267425537, + -0.38955622911453247, + -0.4227035939693451 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "rotate pot to upright", + "subtask_reasoning": "The robot is holding the metal pot mid-air above the wooden board, having already lifted and repositioned it. The pot remains tilted and requires rotation to achieve an upright orientation. The next action should involve rotating the pot around its vertical axis while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, open gripper; then move left 2 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916020154953003, + 0.07148166745901108, + 0.08306118100881577, + 2.43320369720459, + -0.3551000952720642, + -0.4125535488128662 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "rotate pot to upright", + "subtask_reasoning": "The robot is holding the metal pot mid-air above the wooden board, having already lifted and repositioned it. The pot remains tilted and requires rotation to achieve an upright orientation. The next action should involve rotating the pot around its vertical axis while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move left 2 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29421672224998474, + 0.07669777423143387, + 0.0686517134308815, + 2.470431327819824, + -0.34256526827812195, + -0.4276348650455475 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange slice": [ + 504, + 505, + 646, + 664 + ], + "red chili pepper": [ + 411, + 624, + 509, + 912 + ] + } + } + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "rotate pot to upright", + "subtask_reasoning": "The robot is holding the metal pot mid-air above the wooden board, having already lifted and repositioned it. The pot remains tilted and requires rotation to achieve an upright orientation. The next action should involve rotating the pot around its vertical axis while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move left 2 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29593342542648315, + 0.07982520759105682, + 0.06160962954163551, + 2.506371259689331, + -0.35654011368751526, + -0.4568907618522644 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "rotate pot to upright", + "subtask_reasoning": "The robot is holding the metal pot mid-air above the wooden board, having already lifted and repositioned it. The pot remains tilted and requires rotation to achieve an upright orientation. The next action should involve rotating the pot around its vertical axis while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 2 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29313746094703674, + 0.0819849744439125, + 0.05041402578353882, + 2.552292823791504, + -0.3392464518547058, + -0.4789615869522095 + ], + "gripper_value": 0.7359045147895813 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot upright on surface", + "subtask_reasoning": "The robot is holding the metal pot mid-air above the wooden board, having already lifted and repositioned it. The pot remains tilted and requires rotation to achieve an upright orientation. The next action should involve rotating the pot around its vertical axis while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2945941090583801, + 0.08591020107269287, + 0.05107588320970535, + 2.619081735610962, + -0.3500184714794159, + -0.49547234177589417 + ], + "gripper_value": 0.9781157374382019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot upright on surface", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned above the wooden board, aligned for placement. The gripper is open, indicating readiness to release. The next action is to lower the pot gently onto the board and release it to complete upright placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967667579650879, + 0.09323692321777344, + 0.05883394554257393, + 2.8126633167266846, + -0.3685913681983948, + -0.5258897542953491 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot upright on surface", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned above the wooden board, aligned for placement. The gripper is open, indicating readiness to release. The next action is to lower the pot gently onto the board and release it to complete upright placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 30 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29210928082466125, + 0.09503795206546783, + 0.059982605278491974, + 3.0458781719207764, + -0.36700528860092163, + -0.6174307465553284 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot upright on surface", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned above the wooden board, aligned for placement. The gripper is open, indicating readiness to release. The next action is to lower the pot gently onto the board and release it to complete upright placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 20 degrees, keep gripper open; then move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28981196880340576, + 0.0970713272690773, + 0.07079684734344482, + -2.9307093620300293, + -0.320952832698822, + -0.7085667252540588 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "retreat from placed pot", + "subtask_reasoning": "The metal pot is already upright and stable on the wooden board, with the gripper fully open and positioned above it. The retreat phase is underway, as the arm is moving away from the pot without contact. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29066503047943115, + 0.09503468871116638, + 0.0931534469127655, + -2.8086042404174805, + -0.23490910232067108, + -0.6624500155448914 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the metal pot on the wooden board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "lift and reposition pot" + }, + { + "id": 3, + "subtask": "rotate pot to upright" + }, + { + "id": 4, + "subtask": "place pot upright on surface" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "retreat from placed pot", + "subtask_reasoning": "The metal pot is already upright and stable on the wooden board, with the gripper fully open and positioned above it. The retreat phase is underway, as the arm is moving away from the pot without contact. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000731_ecot.json b/cot/chunk-0000/episode_0000731_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b40819544474265d2eaa7eb004ae30513ea1e8c8 --- /dev/null +++ b/cot/chunk-0000/episode_0000731_ecot.json @@ -0,0 +1,6550 @@ +{ + "task_name": "episode_0000731", + "episode_json": "json/chunk-0000/episode_0000731.json", + "video_path": "videos/chunk-0000/image_0/episode_0000731.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000731.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.6472381353378296, + "std": 0.18883848190307617, + "delta_total": -0.6472381353378296, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64724, std=0.18884, total_delta=-0.64724). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 210, + 210, + 210, + 10, + 10, + 10, + 10 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 46 + ], + [ + 3, + 47, + 50 + ], + [ + 4, + 51, + 87 + ], + [ + 5, + 88, + 90 + ], + [ + 6, + 91, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the tray while closing the gripper in preparation for contact.\"},\n {\"id\": 2, \"name\": \"sweep left to right\", \"start\": 10, \"end\": 46, \"planning\": \"Drag the gripper across the tray surface from left to right to gather scattered items into a pile.\"},\n {\"id\": 3, \"name\": \"reposition at pile edge\", \"start\": 47, \"end\": 50, \"planning\": \"Adjust position slightly at the edge of the accumulated pile without grasping or lifting.\"},\n {\"id\": 4, \"name\": \"consolidate pile with back-and-forth motion\", \"start\": 51, \"end\": 87, \"planning\": \"Perform repeated sweeping motions over the pile area to compact and center the gathered items.\"},\n {\"id\": 5, \"name\": \"lift and retreat from pile\", \"start\": 88, \"end\": 90, \"planning\": \"Raise the end-effector vertically away from the tray surface after final consolidation.\"},\n {\"id\": 6, \"name\": \"move to safe offset position\", \"start\": 91, \"end\": 94, \"planning\": \"Translate the arm to a neutral observation pose clear of the tray while maintaining gripper state.\"}\n ],\n \"global_plan\": \"Sweep scattered items into a centralized pile using controlled dragging and consolidation motions, then retreat to a safe position.\",\n \"notes\": \"Gripper closes meaningfully only in Segment 1; subsequent segments use contact-based manipulation without grasping. Segment 3 and 6 show no gripper closure — described as repositioning and retreating, not grasping or placing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the tray while closing the gripper in preparation for contact." + }, + { + "id": 2, + "name": "sweep left to right", + "start": 10, + "end": 46, + "planning": "Drag the gripper across the tray surface from left to right to gather scattered items into a pile." + }, + { + "id": 3, + "name": "reposition at pile edge", + "start": 47, + "end": 50, + "planning": "Adjust position slightly at the edge of the accumulated pile without grasping or lifting." + }, + { + "id": 4, + "name": "consolidate pile with back-and-forth motion", + "start": 51, + "end": 87, + "planning": "Perform repeated sweeping motions over the pile area to compact and center the gathered items." + }, + { + "id": 5, + "name": "lift and retreat from pile", + "start": 88, + "end": 90, + "planning": "Raise the end-effector vertically away from the tray surface after final consolidation." + }, + { + "id": 6, + "name": "move to safe offset position", + "start": 91, + "end": 94, + "planning": "Translate the arm to a neutral observation pose clear of the tray while maintaining gripper state." + } + ], + "global_plan": "Sweep scattered items into a centralized pile using controlled dragging and consolidation motions, then retreat to a safe position.", + "notes": "Gripper closes meaningfully only in Segment 1; subsequent segments use contact-based manipulation without grasping. Segment 3 and 6 show no gripper closure — described as repositioning and retreating, not grasping or placing." + } + }, + "episode_goal": "Sweep the blue objects into a pile on the left side of the tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3647902011871338, + -0.15031051635742188, + 0.07183722406625748, + 2.955543279647827, + -0.1407216638326645, + 0.05244685336947441 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the tray containing scattered blue objects, with the gripper currently open. No sweeping or consolidation has occurred yet. The next action is to lower the gripper and close it to prepare for contact-based sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3629406988620758, + -0.14941851794719696, + 0.05578232556581497, + 2.97206711769104, + -0.10394387692213058, + 0.05297566577792168 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the tray containing scattered blue objects, with the gripper currently open. No sweeping or consolidation has occurred yet. The next action is to lower the gripper and close it to prepare for contact-based sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37683168053627014, + -0.14851374924182892, + 0.03386390954256058, + 3.0116350650787354, + -0.11054839193820953, + 0.07543423026800156 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small bowl": [ + 620, + 221, + 710, + 287 + ], + "white tray": [ + 133, + 346, + 990, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the tray containing scattered blue objects, with the gripper currently open. No sweeping or consolidation has occurred yet. The next action is to lower the gripper and close it to prepare for contact-based sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 4 cm, close gripper; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38947951793670654, + -0.15657182037830353, + 0.026241963729262352, + 3.008917808532715, + -0.11979401856660843, + 0.08100054413080215 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the tray containing scattered blue objects, with the gripper currently open. No sweeping or consolidation has occurred yet. The next action is to lower the gripper and close it to prepare for contact-based sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 3 cm, close gripper; then move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39989161491394043, + -0.16286109387874603, + 0.02482602186501026, + 2.9923129081726074, + -0.12915192544460297, + 0.08509545773267746 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the tray with scattered blue objects, and the gripper is currently open. The subtask involves approaching a target object and closing the gripper to initiate contact. The next action should be to move the gripper closer to a blue object and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, close gripper; then move forward 1 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.40438175201416016, + -0.1681089550256729, + 0.019809070974588394, + 3.0080771446228027, + -0.14564673602581024, + 0.07023191452026367 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the tray with scattered blue objects, and the gripper is currently open. The subtask involves approaching a target object and closing the gripper to initiate contact. The next action should be to move the gripper closer to a blue object and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, close gripper; then move forward 1 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.40767088532447815, + -0.17548903822898865, + 0.013166658580303192, + 3.014493465423584, + -0.15642929077148438, + 0.058975160121917725 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the tray with scattered blue objects, and the gripper is currently open. The subtask involves approaching a target object and closing the gripper to initiate contact. The next action should be to move the gripper closer to a blue object and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.40957438945770264, + -0.17853182554244995, + 0.0032478247303515673, + 3.026484489440918, + -0.1478850096464157, + 0.058080680668354034 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the tray with scattered blue objects, and the gripper is currently open. The subtask involves approaching a target object and closing the gripper to initiate contact. The next action should be to move the gripper closer to a blue object and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 11 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.40857696533203125, + -0.18720534443855286, + 0.0008903329726308584, + 3.0283639430999756, + -0.15019533038139343, + 0.04328541085124016 + ], + "gripper_value": 0.9709111452102661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the tray with scattered blue objects, and the gripper is currently open. The subtask involves approaching a target object and closing the gripper to initiate contact. The next action should be to move the gripper closer to a blue object and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40713971853256226, + -0.19022205471992493, + -0.004794108681380749, + 3.0277774333953857, + -0.13736657798290253, + 0.05136281996965408 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the tray with scattered blue objects, and the gripper is currently open. The subtask involves approaching a target object and closing the gripper to initiate contact. The next action should be to move the gripper closer to a blue object and begin closing it to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 15 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.40784725546836853, + -0.19071023166179657, + -0.005953791551291943, + 3.023735523223877, + -0.1401917189359665, + 0.05901298671960831 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 18 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40704405307769775, + -0.18914973735809326, + -0.008229932747781277, + 3.020237922668457, + -0.14375779032707214, + 0.0603538416326046 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 20 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40853795409202576, + -0.17509551346302032, + -0.010938545688986778, + 3.001244306564331, + -0.1317518949508667, + 0.09636638313531876 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 21 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4089786410331726, + -0.1619337946176529, + -0.0117548368871212, + 2.9830527305603027, + -0.10783776640892029, + 0.1264282464981079 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 22 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4137120246887207, + -0.13189886510372162, + -0.013064630329608917, + 2.9766464233398438, + -0.07593397796154022, + 0.16209952533245087 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 132, + 347, + 990, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 21 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4154256284236908, + -0.10766839981079102, + -0.014329733327031136, + 2.978682041168213, + -0.06667938828468323, + 0.17630957067012787 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 20 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4166397452354431, + -0.10006212443113327, + -0.014357992447912693, + 2.9793529510498047, + -0.0680023729801178, + 0.1758437305688858 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 21 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4198114573955536, + -0.07616996765136719, + -0.01581687666475773, + 2.9855823516845703, + -0.06333863735198975, + 0.18709664046764374 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 18 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4183574318885803, + -0.061811234802007675, + -0.016390563920140266, + 2.9761672019958496, + -0.06105871498584747, + 0.18686912953853607 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 14 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4118534028530121, + -0.04092535004019737, + -0.016880687326192856, + 2.9793145656585693, + -0.0497189424932003, + 0.18476036190986633 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.40538570284843445, + -0.007858331315219402, + -0.01597369648516178, + 2.9680159091949463, + -0.01669551432132721, + 0.22313351929187775 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 131, + 351, + 992, + 992 + ], + "small bowl": [ + 626, + 222, + 714, + 287 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.39680612087249756, + 0.01479568425565958, + -0.015351185575127602, + 2.9613966941833496, + 0.0117419408634305, + 0.23563486337661743 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839183747768402, + 0.03658841922879219, + -0.015129178762435913, + 2.9629647731781006, + 0.029316144064068794, + 0.23110021650791168 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3762650489807129, + 0.059044789522886276, + -0.013684730976819992, + 2.962582588195801, + 0.03966576233506203, + 0.24547190964221954 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 20 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3722253143787384, + 0.0760427787899971, + -0.014175321906805038, + 2.984117031097412, + 0.02514544129371643, + 0.25645747780799866 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 24 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36828404664993286, + 0.09470216184854507, + -0.014344746246933937, + 3.0317044258117676, + -0.011831770651042461, + 0.25989359617233276 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 28 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3624882102012634, + 0.11422652006149292, + -0.012877817265689373, + 3.0782978534698486, + -0.04599604383111, + 0.2665445804595947 + ], + "gripper_value": 0.3661215305328369 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 31 cm, move up 1 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.346851110458374, + 0.10763675719499588, + -0.009934907779097557, + 3.0454883575439453, + -0.025961214676499367, + 0.25980207324028015 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 31 cm, move up 1 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424445688724518, + 0.0796138271689415, + 0.007376272697001696, + 2.9355125427246094, + 0.00680934963747859, + 0.27254971861839294 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 29 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515011966228485, + 0.03401808440685272, + 0.019489120692014694, + 2.8368756771087646, + 0.005331465974450111, + 0.24683108925819397 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 23 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3495118319988251, + -0.018392367288470268, + 0.01515604555606842, + 2.807589530944824, + 0.021975968033075333, + 0.20719483494758606 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 16 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34631192684173584, + -0.06464971601963043, + 0.028542375192046165, + 2.7701427936553955, + -0.02005750685930252, + 0.18907280266284943 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3379260301589966, + -0.11540134251117706, + 0.028799276798963547, + 2.7728517055511475, + -0.021037202328443527, + 0.14306730031967163 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3351637125015259, + -0.14218232035636902, + 0.03251981362700462, + 2.768923044204712, + -0.024445384740829468, + 0.13088040053844452 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 129, + 352, + 988, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3380140960216522, + -0.16124962270259857, + 0.02042088285088539, + 2.778510808944702, + -0.014340159483253956, + 0.13316938281059265 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 13 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3370571434497833, + -0.1845066398382187, + 0.007135552819818258, + 2.791952133178711, + -0.018189627677202225, + 0.10783544927835464 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406716585159302, + -0.19348619878292084, + 0.0004003778740298003, + 2.7907309532165527, + -0.010568786412477493, + 0.11981714516878128 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 23 cm, move down 1 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3389456570148468, + -0.20285677909851074, + 0.00027040348504669964, + 2.7848997116088867, + -0.016064060851931572, + 0.11719568818807602 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 27 cm, move down 1 cm, tilt left 30 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3399796783924103, + -0.2073337435722351, + 0.0008672329131513834, + 2.7859947681427, + -0.04044332355260849, + 0.11385494470596313 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 27 cm, move down 1 cm, tilt left 30 degrees, tilt back 20 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.33841556310653687, + -0.19863258302211761, + -0.0060886200517416, + 2.8058130741119385, + -0.04823766276240349, + 0.12087244540452957 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 27 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377898037433624, + -0.1748581826686859, + -0.008133460767567158, + 2.8334121704101562, + -0.06047296151518822, + 0.1481597125530243 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 24 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.33954158425331116, + -0.13502217829227448, + -0.007942697033286095, + 2.8692028522491455, + -0.0680873766541481, + 0.19728922843933105 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, tilt left 20 degrees, tilt back 20 degrees, keep gripper closed; then move back 2 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.33906441926956177, + -0.09170745313167572, + -0.006037604995071888, + 2.902313709259033, + -0.0981820821762085, + 0.23807558417320251 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 128, + 352, + 991, + 992 + ], + "small bowl": [ + 626, + 220, + 713, + 285 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 16 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367675244808197, + -0.05340924859046936, + -0.006254170555621386, + 2.9306674003601074, + -0.13955670595169067, + 0.2623802423477173 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361341059207916, + -0.026784595102071762, + -0.008068831637501717, + 2.9633395671844482, + -0.19574138522148132, + 0.2707135081291199 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.33045539259910583, + -0.0025124531239271164, + -0.008791470900177956, + 3.0253512859344482, + -0.26958778500556946, + 0.2330930233001709 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move right 16 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252693712711334, + 0.03167618811130524, + -0.009456810541450977, + 3.108694553375244, + -0.3328936696052551, + 0.20785686373710632 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "sweep left to right", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move right 16 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 46 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203272819519043, + 0.06760486960411072, + -0.009409170597791672, + -3.086129665374756, + -0.38641658425331116, + 0.20934827625751495 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "reposition at pile edge", + "subtask_reasoning": "The robot gripper is positioned near the scattered blue objects on the tray, having completed the approach and closure phase. The gripper is currently in contact with or very close to the objects, ready to initiate movement. The next action is to drag the objects from left to right to begin consolidating them into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move right 14 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 47, + "end": 50 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.31291231513023376, + 0.098325714468956, + -0.00939923245459795, + -3.0093865394592285, + -0.38651108741760254, + 0.21929429471492767 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "reposition at pile edge", + "subtask_reasoning": "The robot is positioned at the left edge of the tray with the gripper open, having completed the initial sweep motion. The current subtask involves repositioning at the pile edge to prepare for further consolidation. The next action should involve a slight adjustment or movement to align with the pile for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move right 12 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 47, + "end": 50 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.29842960834503174, + 0.11157824844121933, + -0.006489274557679892, + -2.999358654022217, + -0.3408459722995758, + 0.22777533531188965 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "reposition at pile edge", + "subtask_reasoning": "The robot is positioned at the left edge of the tray with the gripper open, having completed the initial sweep motion. The current subtask involves repositioning at the pile edge to prepare for further consolidation. The next action should involve a slight adjustment or movement to align with the pile for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 4 cm, tilt right 20 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 48 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 47, + "end": 50 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890256941318512, + 0.09743974357843399, + 0.0067529985681176186, + -3.1084351539611816, + -0.2977193593978882, + 0.2462291568517685 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "reposition at pile edge", + "subtask_reasoning": "The robot is positioned at the left edge of the tray with the gripper open, having completed the initial sweep motion. The current subtask involves repositioning at the pile edge to prepare for further consolidation. The next action should involve a slight adjustment or movement to align with the pile for continued sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 50 + }, + "cache_ref": { + "anchor_ref_reasoning": 48 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 47, + "end": 50 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.29922235012054443, + 0.0629538893699646, + 0.03819108009338379, + 2.9970688819885254, + -0.3002021610736847, + 0.29843005537986755 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.31200918555259705, + 0.015965944156050682, + 0.04922403395175934, + 2.9254956245422363, + -0.2931159734725952, + 0.2841470539569855 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3207700848579407, + -0.028842121362686157, + 0.058548204600811005, + 2.858119010925293, + -0.2857842445373535, + 0.254234254360199 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 13 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.32133862376213074, + -0.0758800134062767, + 0.05338582396507263, + 2.8289921283721924, + -0.27732548117637634, + 0.20202693343162537 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small bowl": [ + 621, + 220, + 715, + 287 + ], + "white tray": [ + 124, + 364, + 990, + 992 + ], + "banana": [ + 855, + 293, + 947, + 377 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 16 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.32538843154907227, + -0.09617514163255692, + 0.03774936497211456, + 2.8525359630584717, + -0.31158536672592163, + 0.17351874709129333 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284841775894165, + -0.09348254650831223, + 0.004145889077335596, + 2.908825397491455, + -0.32568249106407166, + 0.15697850286960602 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3274739384651184, + -0.0793994888663292, + -0.007702836766839027, + 2.936110258102417, + -0.3516289293766022, + 0.15665797889232635 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.31983983516693115, + -0.056255750358104706, + -0.011009765788912773, + 2.9349803924560547, + -0.3422837555408478, + 0.1673245131969452 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.30853527784347534, + -0.015298212878406048, + -0.003767274087294936, + 2.921670913696289, + -0.34450700879096985, + 0.20933091640472412 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small bowl": [ + 619, + 219, + 715, + 287 + ], + "white tray": [ + 123, + 352, + 992, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.30600568652153015, + 0.024404222145676613, + 0.007231735158711672, + 2.918186664581299, + -0.36358028650283813, + 0.24641600251197815 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3014269471168518, + 0.0627380907535553, + 0.008351488970220089, + 2.9580154418945312, + -0.3906020224094391, + 0.2680697441101074 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.30212682485580444, + 0.09393025189638138, + 0.0022770902141928673, + 3.042487859725952, + -0.4479367136955261, + 0.2652466297149658 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028050661087036, + 0.10343039035797119, + 0.0031600750517100096, + 3.062526226043701, + -0.47497251629829407, + 0.2563612759113312 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 8 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963821589946747, + 0.07971183210611343, + 0.02217024564743042, + 2.9282939434051514, + -0.3938792049884796, + 0.3052366375923157 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.31716546416282654, + 0.043614137917757034, + 0.056409258395433426, + 2.8187994956970215, + -0.3641927242279053, + 0.3449498414993286 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.3435906767845154, + 0.01083249319344759, + 0.07403033971786499, + 2.798882007598877, + -0.3776284158229828, + 0.3388512134552002 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "small bowl": [ + 619, + 217, + 714, + 286 + ], + "white tray": [ + 126, + 397, + 992, + 992 + ], + "banana": [ + 856, + 294, + 946, + 377 + ], + "wooden shelf": [ + 317, + 10, + 997, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665142059326172, + -0.007859653793275356, + 0.051016561686992645, + 2.8483197689056396, + -0.34303829073905945, + 0.32770755887031555 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907538652420044, + -0.019794030115008354, + 0.02747979201376438, + 2.9075191020965576, + -0.33551427721977234, + 0.30562877655029297 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 13 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.40584516525268555, + -0.022471003234386444, + 0.014233245514333248, + 2.9290661811828613, + -0.32961639761924744, + 0.3090997636318207 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.41397613286972046, + -0.022810474038124084, + 0.015706578269600868, + 2.9218251705169678, + -0.33797258138656616, + 0.31737545132637024 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.4175863564014435, + -0.014125591143965721, + 0.011022737249732018, + 2.919327974319458, + -0.32630646228790283, + 0.3415628671646118 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.4182661771774292, + 0.006987903732806444, + 0.011873111128807068, + 2.919851541519165, + -0.3326362371444702, + 0.37529781460762024 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.4176408648490906, + 0.021082744002342224, + 0.01123209111392498, + 2.925013780593872, + -0.33417683839797974, + 0.3946225047111511 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.41488033533096313, + 0.03838638961315155, + 0.0030404957942664623, + 2.9377284049987793, + -0.3217248022556305, + 0.4255117177963257 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.412250280380249, + 0.05944737792015076, + 0.0013569624861702323, + 2.95154070854187, + -0.3379368484020233, + 0.45899301767349243 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.4023898243904114, + 0.08176000416278839, + -0.006629948038607836, + 2.9706223011016846, + -0.36333802342414856, + 0.4927985370159149 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.3892492949962616, + 0.09507522732019424, + -0.006351571995764971, + 2.9664306640625, + -0.3685104548931122, + 0.48837053775787354 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.3727179765701294, + 0.11324179172515869, + -0.0033140822779387236, + 2.9628119468688965, + -0.3700329065322876, + 0.5020411014556885 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620797395706177, + 0.10130622982978821, + 0.00503811240196228, + 2.918433666229248, + -0.3543628454208374, + 0.49506592750549316 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.3578146696090698, + 0.07304361462593079, + 0.0279900711029768, + 2.85064959526062, + -0.3568413555622101, + 0.4726579189300537 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.3538703918457031, + 0.03402704745531082, + 0.04386095330119133, + 2.793898105621338, + -0.35454612970352173, + 0.4156785011291504 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 5 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454819619655609, + -0.00013243967259768397, + 0.03672236576676369, + 2.796168565750122, + -0.3289150893688202, + 0.3334730863571167 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 4 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 5 cm, move up 4 cm, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.33876919746398926, + -0.014110206626355648, + 0.02378753386437893, + 2.840515375137329, + -0.3474973142147064, + 0.26359525322914124 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 3 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed; then move right 5 cm, move up 4 cm, keep gripper closed; then move forward 4 cm, move right 8 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281627297401428, + -0.010832724161446095, + 0.0034697833471000195, + 2.884014368057251, + -0.33832627534866333, + 0.22146883606910706 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 129, + 365, + 993, + 992 + ], + "small bowl": [ + 620, + 218, + 715, + 286 + ], + "banana": [ + 856, + 293, + 946, + 377 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 1 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed; then move right 5 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.3243100047111511, + 0.0029553482308983803, + -0.004003818612545729, + 2.9176764488220215, + -0.35884904861450195, + 0.19736088812351227 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed; then move right 5 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199530839920044, + 0.03362083435058594, + -0.00566167663782835, + 2.9519243240356445, + -0.36874493956565857, + 0.20437970757484436 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move right 5 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.3151104748249054, + 0.060301169753074646, + -0.00876617431640625, + 3.0328071117401123, + -0.40112048387527466, + 0.23151975870132446 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "consolidate pile with back-and-forth motion", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt left 10 degrees, keep gripper closed; then move right 5 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 87 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 51, + "end": 87 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.3147885203361511, + 0.08966458588838577, + -0.00708228861913085, + -3.1148521900177, + -0.46907567977905273, + 0.23421156406402588 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot is positioned over the blue objects on the left side of the tray, with the gripper closed and in contact with the items. Previous sweeping motions have gathered the objects into a loose cluster. The current subtask involves consolidating this pile using back-and-forth motions, and the next action should be a controlled drag or push to tighten the grouping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 4 cm, keep gripper closed; then move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 90 + }, + "cache_ref": { + "anchor_ref_reasoning": 51 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 88, + "end": 90 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.30592501163482666, + 0.09785570949316025, + -0.004990927409380674, + -3.0602669715881348, + -0.49072057008743286, + 0.23744066059589386 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot is positioned over the consolidated pile of blue objects on the left side of the tray, having completed the sweeping motion. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to lift the end-effector vertically and retreat to a safe position away from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 90 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 88, + "end": 90 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.30111441016197205, + 0.08587847650051117, + 0.010098499245941639, + -3.085517406463623, + -0.4757046699523926, + 0.25253722071647644 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "lift and retreat from pile", + "subtask_reasoning": "The robot is positioned over the consolidated pile of blue objects on the left side of the tray, having completed the sweeping motion. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to lift the end-effector vertically and retreat to a safe position away from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 90 + }, + "cache_ref": { + "anchor_ref_reasoning": 89 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 88, + "end": 90 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.31426921486854553, + 0.04390832409262657, + 0.03494034335017204, + 3.1012661457061768, + -0.45719122886657715, + 0.27584218978881836 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "move to safe offset position", + "subtask_reasoning": "The robot is positioned over the consolidated pile of blue objects on the left side of the tray, having completed the sweeping motion. The gripper remains open with no closing evidence, indicating no grasp is occurring. The next action is to lift the end-effector vertically and retreat to a safe position away from the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 89 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 91, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.3356623947620392, + 0.0033047168981283903, + 0.05443518981337547, + 3.026266098022461, + -0.4628371596336365, + 0.28823280334472656 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "move to safe offset position", + "subtask_reasoning": "The robot arm is positioned above the tray with the blue objects already swept into a pile on the left. The gripper is open and stationary, indicating no active grasping. The next action is to move the arm to a safe offset position away from the pile to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 91, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.3521423637866974, + -0.038859400898218155, + 0.04631620645523071, + 3.0376694202423096, + -0.42198896408081055, + 0.25475236773490906 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "move to safe offset position", + "subtask_reasoning": "The robot arm is positioned above the tray with the blue objects already swept into a pile on the left. The gripper is open and stationary, indicating no active grasping. The next action is to move the arm to a safe offset position away from the pile to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 92 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 91, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.3627449572086334, + -0.08906496316194534, + 0.03852222487330437, + 3.075746536254883, + -0.41125085949897766, + 0.17951491475105286 + ], + "gripper_value": 0.35357794165611267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 131, + 355, + 990, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the blue objects into a pile on the left side of the tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep left to right" + }, + { + "id": 3, + "subtask": "reposition at pile edge" + }, + { + "id": 4, + "subtask": "consolidate pile with back-and-forth motion" + }, + { + "id": 5, + "subtask": "lift and retreat from pile" + }, + { + "id": 6, + "subtask": "move to safe offset position" + } + ], + "subtask_name": "move to safe offset position", + "subtask_reasoning": "The robot arm is positioned above the tray with the blue objects already swept into a pile on the left. The gripper is open and stationary, indicating no active grasping. The next action is to move the arm to a safe offset position away from the pile to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 92 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 91, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000732_ecot.json b/cot/chunk-0000/episode_0000732_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f27b31e32b669bc7d8fbdc93fd2783bf9598ad16 --- /dev/null +++ b/cot/chunk-0000/episode_0000732_ecot.json @@ -0,0 +1,1520 @@ +{ + "task_name": "episode_0000732", + "episode_json": "json/chunk-0000/episode_0000732.json", + "video_path": "videos/chunk-0000/image_0/episode_0000732.mp4", + "instruction": "Move the napkin closer to the bottom left corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000732.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033069849014282227, + "std": 0.0008735024021007121, + "delta_total": -0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00331, std=0.00087, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach napkin area\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the napkin location without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact and nudge napkin\", \"start\": 4, \"end\": 13, \"planning\": \"Establish light contact with napkin and begin nudging it toward bottom-left corner; gripper stays open, motion is sliding/pushing.\"},\n {\"id\": 3, \"name\": \"continue dragging napkin to target\", \"start\": 14, \"end\": 23, \"planning\": \"Sustain controlled drag of napkin along table surface to final position near bottom-left corner; no grasp or lift observed.\"}\n ],\n \"global_plan\": \"The robot approaches the napkin, makes contact, and drags it across the table to the bottom-left corner using continuous pushing/sliding motion without ever closing the gripper.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment (range < 0.004, delta ~0). All motion is contact-based manipulation — approach, nudge, drag — consistent with visual frames showing napkin being pushed, not lifted or held.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach napkin area", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the napkin location without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact and nudge napkin", + "start": 4, + "end": 13, + "planning": "Establish light contact with napkin and begin nudging it toward bottom-left corner; gripper stays open, motion is sliding/pushing." + }, + { + "id": 3, + "name": "continue dragging napkin to target", + "start": 14, + "end": 23, + "planning": "Sustain controlled drag of napkin along table surface to final position near bottom-left corner; no grasp or lift observed." + } + ], + "global_plan": "The robot approaches the napkin, makes contact, and drags it across the table to the bottom-left corner using continuous pushing/sliding motion without ever closing the gripper.", + "notes": "Gripper evidence confirms no meaningful closing in any segment (range < 0.004, delta ~0). All motion is contact-based manipulation — approach, nudge, drag — consistent with visual frames showing napkin being pushed, not lifted or held." + } + }, + "episode_goal": "Move the napkin closer to the bottom left corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373909592628479, + 0.18850773572921753, + 0.0827275738120079, + -2.875890016555786, + -0.08547171950340271, + -0.014994030818343163 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "approach napkin area", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for pushing it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 9 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361383080482483, + 0.1868584156036377, + 0.07006561011075974, + -2.8927669525146484, + -0.05575857311487198, + -0.015573641285300255 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "approach napkin area", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center-right area. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for sliding it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 8 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34565797448158264, + 0.16085736453533173, + 0.06645669788122177, + -2.9217607975006104, + -0.04912569746375084, + -0.07971110194921494 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "approach napkin area", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center-right area. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for sliding it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36468878388404846, + 0.12662237882614136, + 0.06706418097019196, + -2.955833673477173, + -0.06481750309467316, + -0.1543126106262207 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 529, + 393, + 837, + 655 + ], + "blue cloth": [ + 443, + 233, + 663, + 458 + ], + "corn": [ + 144, + 281, + 281, + 442 + ], + "toy microwave": [ + 360, + 4, + 678, + 233 + ], + "toy mushroom": [ + 656, + 273, + 787, + 410 + ], + "wooden table": [ + 5, + 161, + 914, + 960 + ], + "tomato soup": [ + 652, + 26, + 796, + 278 + ], + "toy stove": [ + 699, + 160, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "approach napkin area", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center-right area. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for sliding it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper open; then move forward 3 cm, move right 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38044917583465576, + 0.10354118794202805, + 0.06892688572406769, + -2.9683072566986084, + -0.07341042906045914, + -0.1883196383714676 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center-right area. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for sliding it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39989063143730164, + 0.06804245710372925, + 0.06683509051799774, + -3.0712430477142334, + -0.09972666203975677, + -0.26592811942100525 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center-right area. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for sliding it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 6 cm, keep gripper open; then move back 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41500774025917053, + 0.0516192726790905, + 0.07047659158706665, + -3.0616326332092285, + -0.13428620994091034, + -0.30097854137420654 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center-right area. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for sliding it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 6 cm, keep gripper open; then move back 6 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4275026321411133, + 0.02902304381132126, + 0.06054161861538887, + -3.05997896194458, + -0.1437099426984787, + -0.3517279326915741 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot is positioned above the table with the napkin visible in the center-right area. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the napkin to prepare for sliding it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move back 9 cm, move left 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.42869308590888977, + 0.012801785953342915, + 0.037220973521471024, + -3.0484395027160645, + -0.10578374564647675, + -0.3962174952030182 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 12 cm, move left 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4286780059337616, + 0.011711961589753628, + 0.017740901559591293, + -3.0349557399749756, + -0.08822137117385864, + -0.4157693386077881 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 13 cm, move left 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4300233721733093, + 0.012877206318080425, + 0.015428553335368633, + -3.0270793437957764, + -0.08860446512699127, + -0.41351452469825745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 13 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42947736382484436, + 0.02123204991221428, + 0.01346481405198574, + -3.029639482498169, + -0.08637422323226929, + -0.39277058839797974 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 12 cm, move left 5 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4219358563423157, + 0.03433222323656082, + 0.010401644743978977, + -3.0347182750701904, + -0.08237947523593903, + -0.35324153304100037 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, keep gripper open; then move back 11 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40819600224494934, + 0.04466332122683525, + 0.010301480069756508, + -3.0157644748687744, + -0.08074813336133957, + -0.3301604092121124 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "make contact and nudge napkin", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, keep gripper open; then move back 11 cm, move left 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3806523084640503, + 0.07146259397268295, + 0.011576718650758266, + -2.9933910369873047, + -0.058114394545555115, + -0.272649884223938 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526569902896881, + 0.08785766363143921, + 0.012419157661497593, + -2.96832275390625, + -0.03915844112634659, + -0.2428133636713028 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 531, + 391, + 838, + 655 + ], + "wooden table": [ + 5, + 123, + 918, + 963 + ], + "toy mushroom": [ + 654, + 273, + 788, + 411 + ], + "tomato soup": [ + 649, + 26, + 795, + 278 + ], + "toy stove": [ + 703, + 159, + 996, + 993 + ], + "toy microwave": [ + 262, + 3, + 679, + 236 + ], + "blue cloth": [ + 307, + 296, + 540, + 518 + ] + } + } + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3223733603954315, + 0.10064667463302612, + 0.012664941139519215, + -2.9614288806915283, + -0.024770615622401237, + -0.21537426114082336 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874760925769806, + 0.11171848326921463, + 0.01098695583641529, + -2.9585962295532227, + 0.021537672728300095, + -0.18959647417068481 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue napkin on the wooden table, having completed the approach phase. The gripper remains open with no closing evidence, indicating the robot is preparing to make contact rather than grasp. The next action is to lower the arm slightly to touch the napkin and begin nudging it toward the bottom-left corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26232749223709106, + 0.11947229504585266, + 0.012509516440331936, + -2.93693208694458, + 0.061050545424222946, + -0.17431679368019104 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 526, + 390, + 837, + 655 + ], + "blue cloth": [ + 143, + 359, + 394, + 646 + ], + "toy microwave": [ + 315, + 3, + 679, + 236 + ], + "toy mushroom": [ + 653, + 273, + 787, + 411 + ], + "wooden table": [ + 5, + 142, + 918, + 963 + ], + "toy stove": [ + 698, + 160, + 995, + 992 + ], + "tomato soup": [ + 649, + 26, + 796, + 279 + ] + } + } + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is in contact with the napkin, positioned to push it toward the bottom-left corner. The gripper remains open, consistent with a sliding motion rather than grasping. The next action is to continue pushing the napkin along the table surface toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2474237084388733, + 0.12356403470039368, + 0.014214759692549706, + -2.9341542720794678, + 0.07578451186418533, + -0.16900281608104706 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is in contact with the napkin, positioned to push it toward the bottom-left corner. The gripper remains open, consistent with a sliding motion rather than grasping. The next action is to continue pushing the napkin along the table surface toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2499406635761261, + 0.1255248785018921, + 0.0170736126601696, + -2.960407257080078, + 0.06323369592428207, + -0.1561625599861145 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is in contact with the napkin, positioned to push it toward the bottom-left corner. The gripper remains open, consistent with a sliding motion rather than grasping. The next action is to continue pushing the napkin along the table surface toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.258606493473053, + 0.12237890809774399, + 0.023619631305336952, + -3.003937005996704, + 0.039193544536828995, + -0.1473206728696823 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is in contact with the napkin, positioned to push it toward the bottom-left corner. The gripper remains open, consistent with a sliding motion rather than grasping. The next action is to continue pushing the napkin along the table surface toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2677878439426422, + 0.12296819686889648, + 0.04125860705971718, + -3.0254578590393066, + -0.016003835946321487, + -0.13523142039775848 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is in contact with the napkin, positioned to push it toward the bottom-left corner. The gripper remains open, consistent with a sliding motion rather than grasping. The next action is to continue pushing the napkin along the table surface toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733277380466461, + 0.12258027493953705, + 0.060950662940740585, + -3.0429985523223877, + -0.07869299501180649, + -0.12856069207191467 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the napkin closer to the bottom left corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin area" + }, + { + "id": 2, + "subtask": "make contact and nudge napkin" + }, + { + "id": 3, + "subtask": "continue dragging napkin to target" + } + ], + "subtask_name": "continue dragging napkin to target", + "subtask_reasoning": "The robot's end-effector is in contact with the napkin, positioned to push it toward the bottom-left corner. The gripper remains open, consistent with a sliding motion rather than grasping. The next action is to continue pushing the napkin along the table surface toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000733_ecot.json b/cot/chunk-0000/episode_0000733_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2c593db1fce455dd733065b48deb851465cbf45f --- /dev/null +++ b/cot/chunk-0000/episode_0000733_ecot.json @@ -0,0 +1,2354 @@ +{ + "task_name": "episode_0000733", + "episode_json": "json/chunk-0000/episode_0000733.json", + "video_path": "videos/chunk-0000/image_0/episode_0000733.mp4", + "instruction": "Move the cloth to the bottom right side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000733.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9589875936508179, + "std": 0.4368840754032135, + "delta_total": 0.0006613731384277344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95899, std=0.43688, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 211, + 211, + 211, + 211, + 211, + 211, + 211, + 11, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26, + 26 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 17 + ], + [ + 3, + 18, + 24 + ], + [ + 4, + 25, + 25 + ], + [ + 5, + 26, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector down toward the cloth on the table while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp cloth\", \"start\": 10, \"end\": 17, \"planning\": \"Close the gripper to securely grasp the cloth and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"transport cloth\", \"start\": 18, \"end\": 24, \"planning\": \"Carry the grasped cloth across the table toward the bottom right target location.\"},\n {\"id\": 4, \"name\": \"reposition grip\", \"start\": 25, \"end\": 25, \"planning\": \"Adjust the gripper’s hold on the cloth to prepare for precise placement.\"},\n {\"id\": 5, \"name\": \"place cloth\", \"start\": 26, \"end\": 34, \"planning\": \"Lower the cloth to the bottom right side of the table and release it by opening the gripper.\"}\n ],\n \"global_plan\": \"Approach the cloth, grasp it firmly, transport it to the bottom right of the table, adjust grip if needed, then place and release it at the target location.\",\n \"notes\": \"Segment 4 (frame 25) shows no meaningful gripper closing; however, visual evidence confirms the robot is still holding the cloth and adjusting its grip — so 'reposition grip' is used instead of grasp/place. All other segments align with gripper state and image evidence for grasp/hold/place actions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 9, + "planning": "Move the end-effector down toward the cloth on the table while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp cloth", + "start": 10, + "end": 17, + "planning": "Close the gripper to securely grasp the cloth and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "transport cloth", + "start": 18, + "end": 24, + "planning": "Carry the grasped cloth across the table toward the bottom right target location." + }, + { + "id": 4, + "name": "reposition grip", + "start": 25, + "end": 25, + "planning": "Adjust the gripper’s hold on the cloth to prepare for precise placement." + }, + { + "id": 5, + "name": "place cloth", + "start": 26, + "end": 34, + "planning": "Lower the cloth to the bottom right side of the table and release it by opening the gripper." + } + ], + "global_plan": "Approach the cloth, grasp it firmly, transport it to the bottom right of the table, adjust grip if needed, then place and release it at the target location.", + "notes": "Segment 4 (frame 25) shows no meaningful gripper closing; however, visual evidence confirms the robot is still holding the cloth and adjusting its grip — so 'reposition grip' is used instead of grasp/place. All other segments align with gripper state and image evidence for grasp/hold/place actions." + } + }, + "episode_goal": "Move the cloth to the bottom right side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.314482718706131, + -0.00451676407828927, + 0.18691040575504303, + -3.1301004886627197, + 0.26155123114585876, + -2.8555705547332764 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth centered in view. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31485268473625183, + -0.005690201185643673, + 0.17707277834415436, + -3.1337201595306396, + 0.2315497100353241, + -2.860285520553589 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth centered in view. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30746951699256897, + 0.004470322746783495, + 0.16093266010284424, + -3.0929088592529297, + 0.19188301265239716, + -2.8704335689544678 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth centered in view. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 7 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025820255279541, + 0.008814897388219833, + 0.15769053995609283, + -3.060999870300293, + 0.18353886902332306, + -2.8686163425445557 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 333, + 161, + 752, + 560 + ], + "table": [ + 5, + 44, + 994, + 992 + ], + "chair": [ + 325, + 2, + 618, + 219 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth centered in view. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 7 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29644691944122314, + 0.021513596177101135, + 0.1487351506948471, + -3.0809051990509033, + 0.16504263877868652, + -2.861330986022949 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29613015055656433, + 0.0226175244897604, + 0.13564063608646393, + -3.1002345085144043, + 0.13192139565944672, + -2.902311086654663 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt back 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.297640323638916, + 0.021051645278930664, + 0.12620964646339417, + -3.087334394454956, + 0.11120734363794327, + -2.927334785461426 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move right 3 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29962271451950073, + 0.020425569266080856, + 0.11128023266792297, + -3.082327365875244, + 0.06969188898801804, + -2.9360134601593018 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move right 5 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30093416571617126, + 0.019232120364904404, + 0.10068126022815704, + -3.08044171333313, + 0.04066295549273491, + -2.943960189819336 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move right 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024694621562958, + 0.01810632087290287, + 0.09143765270709991, + -3.0748178958892822, + 0.01914070174098015, + -2.950181245803833 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30364102125167847, + 0.019118575379252434, + 0.09036512672901154, + -3.0801661014556885, + 0.02254544012248516, + -2.949446201324463 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30370789766311646, + 0.017185477539896965, + 0.09031567722558975, + -3.08545184135437, + 0.022483346983790398, + -2.9506587982177734 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 5 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30324381589889526, + 0.016646895557641983, + 0.08900751918554306, + -3.0885872840881348, + 0.01787564903497696, + -2.948974132537842 + ], + "gripper_value": 0.14915025234222412 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the wooden table, with the gripper open and ready. No contact or grasp has occurred yet. The next action should be to lower the gripper toward the cloth to initiate contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 5 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30317580699920654, + 0.017294375225901604, + 0.0889754667878151, + -3.0926082134246826, + 0.018033113330602646, + -2.9448933601379395 + ], + "gripper_value": 0.06296365708112717 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 6 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30317580699920654, + 0.017294375225901604, + 0.0889754667878151, + -3.0925259590148926, + 0.01780758984386921, + -2.940296173095703 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 6 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102763891220093, + 0.0007008210523054004, + 0.11275265365839005, + -3.083486795425415, + 0.09896879643201828, + -3.0027172565460205 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 6 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30863070487976074, + -0.013901472091674805, + 0.12493284046649933, + -3.0858256816864014, + 0.1328825205564499, + -3.0488436222076416 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 340, + 188, + 754, + 554 + ], + "chair": [ + 3, + 24, + 244, + 371 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 6 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043087422847748, + -0.03528636693954468, + 0.14021940529346466, + -3.086909055709839, + 0.17391200363636017, + -3.1034202575683594 + ], + "gripper_value": 0.05592256039381027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29276156425476074, + -0.05342455953359604, + 0.14731712639331818, + -3.09087872505188, + 0.19746004045009613, + 3.1167566776275635 + ], + "gripper_value": 0.05592256039381027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "transport cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27664223313331604, + -0.0751456767320633, + 0.14132487773895264, + -3.095015048980713, + 0.18871226906776428, + 3.0311408042907715 + ], + "gripper_value": 0.05592256039381027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "transport cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604730725288391, + -0.08656430244445801, + 0.12618140876293182, + -3.0949594974517822, + 0.15152713656425476, + 2.9798717498779297 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "transport cloth", + "subtask_reasoning": "The robot has approached the cloth and is now in contact with it, with the gripper closing around the fabric. The gripper signal shows a significant decrease, indicating a grasp is being formed. The next action is to confirm the grip and prepare to lift and move the cloth toward the bottom right of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2410823553800583, + -0.10151102393865585, + 0.1078324019908905, + -3.1066982746124268, + 0.11425675451755524, + 2.905667781829834 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "transport cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, confirming a secure hold during transport. The next action is to continue moving the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, open gripper; then keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2259455770254135, + -0.10828286409378052, + 0.09284045547246933, + -3.1149256229400635, + 0.08909855037927628, + 2.8543739318847656 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "transport cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, confirming a secure hold during transport. The next action is to continue moving the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then keep gripper open; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.217206209897995, + -0.11545237898826599, + 0.08600256592035294, + -3.110205888748169, + 0.08204572647809982, + 2.82582950592041 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 54, + 994, + 993 + ], + "chair": [ + 2, + 24, + 243, + 372 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "transport cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, confirming a secure hold during transport. The next action is to continue moving the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open; then move left 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.21758700907230377, + -0.11582925915718079, + 0.08465863764286041, + -3.1100850105285645, + 0.08492147922515869, + 2.835947275161743 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "transport cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having successfully grasped it in the previous step. The gripper remains closed with minimal variation, confirming a secure hold during transport. The next action is to continue moving the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then keep gripper open; then move forward 1 cm, move left 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21935364603996277, + -0.1106206476688385, + 0.08307714760303497, + 3.1403415203094482, + 0.0949307456612587, + 2.8874077796936035 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot is currently in contact with the blue cloth on the table, having already approached and initially grasped it. The gripper signal indicates an adjustment phase rather than a new grasp. The next action is to refine the grip on the cloth to prepare for transporting it to the bottom right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21953675150871277, + -0.10867618024349213, + 0.08269000798463821, + 3.1278750896453857, + 0.09172986447811127, + 2.887150764465332 + ], + "gripper_value": 0.5023775696754456 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently in contact with the blue cloth on the table, having already approached and initially grasped it. The gripper signal indicates an adjustment phase rather than a new grasp. The next action is to refine the grip on the cloth to prepare for transporting it to the bottom right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2199321985244751, + -0.10567568242549896, + 0.08261724561452866, + 3.1249313354492188, + 0.08605913817882538, + 2.895559787750244 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently in contact with the blue cloth on the table, having already approached and initially grasped it. The gripper signal indicates an adjustment phase rather than a new grasp. The next action is to refine the grip on the cloth to prepare for transporting it to the bottom right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21953320503234863, + -0.10438372194766998, + 0.0829235091805458, + 3.1231021881103516, + 0.08204858750104904, + 2.905585289001465 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently in contact with the blue cloth on the table, having already approached and initially grasped it. The gripper signal indicates an adjustment phase rather than a new grasp. The next action is to refine the grip on the cloth to prepare for transporting it to the bottom right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21897396445274353, + -0.10360698401927948, + 0.08467218279838562, + 3.120316505432129, + 0.0813227966427803, + 2.9087975025177 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently in contact with the blue cloth on the table, having already approached and initially grasped it. The gripper signal indicates an adjustment phase rather than a new grasp. The next action is to refine the grip on the cloth to prepare for transporting it to the bottom right side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2204267382621765, + -0.10264135152101517, + 0.0940430611371994, + 3.1158440113067627, + 0.10321103036403656, + 2.9103472232818604 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having transported it from its initial position. The gripper remains closed around the fabric, indicating the cloth is secured. The next action is to lower the end-effector to place the cloth onto the bottom right area of the table before releasing the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.22499175369739532, + -0.1013038158416748, + 0.10974802076816559, + 3.0976078510284424, + 0.13673026859760284, + 2.9236114025115967 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having transported it from its initial position. The gripper remains closed around the fabric, indicating the cloth is secured. The next action is to lower the end-effector to place the cloth onto the bottom right area of the table before releasing the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2249203771352768, + -0.10043682157993317, + 0.13653936982154846, + 3.1102218627929688, + 0.19357602298259735, + 2.92716383934021 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 49, + 994, + 992 + ], + "blue cloth": [ + 382, + 202, + 730, + 710 + ], + "wooden wall": [ + 405, + 1, + 997, + 247 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having transported it from its initial position. The gripper remains closed around the fabric, indicating the cloth is secured. The next action is to lower the end-effector to place the cloth onto the bottom right area of the table before releasing the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2244952917098999, + -0.0976567342877388, + 0.15318343043327332, + 3.111537218093872, + 0.22912615537643433, + 2.940323829650879 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having transported it from its initial position. The gripper remains closed around the fabric, indicating the cloth is secured. The next action is to lower the end-effector to place the cloth onto the bottom right area of the table before releasing the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.23136968910694122, + -0.0981179028749466, + 0.16389867663383484, + 3.101284980773926, + 0.26346784830093384, + 2.9333698749542236 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the bottom right side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth" + }, + { + "id": 4, + "subtask": "reposition grip" + }, + { + "id": 5, + "subtask": "place cloth" + } + ], + "subtask_name": "place cloth", + "subtask_reasoning": "The robot is currently holding the blue cloth above the table surface, having transported it from its initial position. The gripper remains closed around the fabric, indicating the cloth is secured. The next action is to lower the end-effector to place the cloth onto the bottom right area of the table before releasing the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000735_ecot.json b/cot/chunk-0000/episode_0000735_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..056571a00582c6fc77a7e28a59748d7dd40d79ee --- /dev/null +++ b/cot/chunk-0000/episode_0000735_ecot.json @@ -0,0 +1,2766 @@ +{ + "task_name": "episode_0000735", + "episode_json": "json/chunk-0000/episode_0000735.json", + "video_path": "videos/chunk-0000/image_0/episode_0000735.mp4", + "instruction": "Take silver pot and place it on bottom left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000735.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.964576005935669, + "std": 0.4188925325870514, + "delta_total": 0.016756534576416016, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96458, std=0.41889, total_delta=0.01676). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 340, + 340 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 9 + ], + [ + 3, + 10, + 11 + ], + [ + 4, + 12, + 27 + ], + [ + 5, + 28, + 39 + ], + [ + 6, + 40, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the silver pot on the right burner without grasping, as gripper remains open and no meaningful closing is observed.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 10, \"end\": 11, \"planning\": \"Close gripper around the silver pot handle; segment shows significant gripper closure and images confirm contact with pot.\"},\n {\"id\": 3, \"name\": \"lift and transport pot\", \"start\": 12, \"end\": 27, \"planning\": \"Lift the silver pot and move it across the stove toward the bottom left burner while maintaining grip; gripper remains closed throughout.\"},\n {\"id\": 4, \"name\": \"place pot on target burner\", \"start\": 28, \"end\": 39, \"planning\": \"Lower the silver pot onto the bottom left burner and release grip; motion shows descent and final positioning over target location.\"},\n {\"id\": 5, \"name\": \"retreat from placed pot\", \"start\": 40, \"end\": 41, \"planning\": \"Open gripper and retract end-effector upward and away from the successfully placed pot; gripper opens significantly in this segment.\"}\n ],\n \"global_plan\": \"Approach the silver pot on the right burner, grasp it securely, lift and carry it to the bottom left burner, place it down gently, then retreat with an open gripper.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases: approach (open), grasp (closing), transport (held), place (releasing), retreat (open). Segment 2 (frames 6-9) merged into subtask 1 since no grasping occurred. Segment 5 (frames 28-39) corresponds to placement phase despite lack of explicit gripper summary — inferred from context and prior grasp.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the silver pot on the right burner without grasping, as gripper remains open and no meaningful closing is observed." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 10, + "end": 11, + "planning": "Close gripper around the silver pot handle; segment shows significant gripper closure and images confirm contact with pot." + }, + { + "id": 3, + "name": "lift and transport pot", + "start": 12, + "end": 27, + "planning": "Lift the silver pot and move it across the stove toward the bottom left burner while maintaining grip; gripper remains closed throughout." + }, + { + "id": 4, + "name": "place pot on target burner", + "start": 28, + "end": 39, + "planning": "Lower the silver pot onto the bottom left burner and release grip; motion shows descent and final positioning over target location." + }, + { + "id": 5, + "name": "retreat from placed pot", + "start": 40, + "end": 41, + "planning": "Open gripper and retract end-effector upward and away from the successfully placed pot; gripper opens significantly in this segment." + } + ], + "global_plan": "Approach the silver pot on the right burner, grasp it securely, lift and carry it to the bottom left burner, place it down gently, then retreat with an open gripper.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases: approach (open), grasp (closing), transport (held), place (releasing), retreat (open). Segment 2 (frames 6-9) merged into subtask 1 since no grasping occurred. Segment 5 (frames 28-39) corresponds to placement phase despite lack of explicit gripper summary — inferred from context and prior grasp." + } + }, + "episode_goal": "Place the silver pot on the bottom left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076244294643402, + -0.02179398015141487, + 0.0776706114411354, + 3.121448278427124, + -0.04358811303973198, + -0.08429799973964691 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 6 cm, move down 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045474588871002, + -0.02186838537454605, + 0.06841983646154404, + 3.12199330329895, + -0.01135103777050972, + -0.08658361434936523 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 6 cm, move down 9 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3202398717403412, + -0.029835736379027367, + 0.05718410760164261, + 3.1090922355651855, + -0.009353779256343842, + -0.11826448887586594 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 5 cm, move down 8 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3451748192310333, + -0.03681158646941185, + 0.052529655396938324, + 3.0852081775665283, + -0.03027833066880703, + -0.13564296066761017 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 4 cm, move down 7 cm, tilt back 10 degrees, close gripper; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36967507004737854, + -0.04105817526578903, + 0.03827684372663498, + 3.093935251235962, + -0.04856346547603607, + -0.1554933488368988 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet, consistent with the approach phase. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, move down 6 cm, tilt back 10 degrees, close gripper; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39748579263687134, + -0.05157681182026863, + 0.015140708535909653, + 3.136592149734497, + -0.11868303269147873, + -0.18426187336444855 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet, consistent with the approach phase. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41799697279930115, + -0.06087362766265869, + 0.007648494094610214, + -3.0975983142852783, + -0.2409949004650116, + -0.20830020308494568 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 576, + 595, + 716, + 735 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet, consistent with the approach phase. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 3 cm, close gripper; then move down 1 cm, keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4353586435317993, + -0.06307361274957657, + 0.0009198439656756818, + -3.083160877227783, + -0.2837927043437958, + -0.21279779076576233 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet, consistent with the approach phase. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, close gripper; then move down 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4533173441886902, + -0.0706075057387352, + -0.0034765833988785744, + -3.1136231422424316, + -0.299852192401886, + -0.20499566197395325 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet, consistent with the approach phase. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, close gripper; then move down 1 cm, keep gripper closed; then move back 4 cm, move left 4 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.46793249249458313, + -0.07477477937936783, + -0.008527184836566448, + -3.1233341693878174, + -0.3047543168067932, + -0.2096228301525116 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the right burner. The gripper is open and no grasping has occurred yet, consistent with the approach phase. The next action should be to move the end effector closer to the silver pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed; then move back 5 cm, move left 8 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4700683057308197, + -0.07826761901378632, + -0.021654220297932625, + 3.1377382278442383, + -0.2797590494155884, + -0.2049746811389923 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 577, + 593, + 715, + 735 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 7 cm, move left 10 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4686935544013977, + -0.0792689174413681, + -0.02561051771044731, + 3.128089189529419, + -0.2725052833557129, + -0.19860395789146423 + ], + "gripper_value": 0.6289845705032349 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move left 13 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4666394293308258, + -0.07953430712223053, + -0.029791751876473427, + 3.1187686920166016, + -0.2754181921482086, + -0.17754454910755157 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 16 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4656795263290405, + -0.0796685516834259, + -0.031697582453489304, + 3.1162824630737305, + -0.2769831717014313, + -0.17492645978927612 + ], + "gripper_value": 0.17569689452648163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 17 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4637209177017212, + -0.07953053712844849, + -0.033334314823150635, + 3.116032600402832, + -0.269456148147583, + -0.17855775356292725 + ], + "gripper_value": 0.09400739520788193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 17 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4619494378566742, + -0.07959286123514175, + -0.03423146903514862, + 3.118129014968872, + -0.2638479471206665, + -0.19533111155033112 + ], + "gripper_value": 0.07333792001008987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 18 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.45825672149658203, + -0.07816728949546814, + -0.017123103141784668, + 3.1057515144348145, + -0.27606096863746643, + -0.2195233851671219 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 18 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.44611307978630066, + -0.07065925747156143, + 0.01409273874014616, + 3.0707952976226807, + -0.2770216464996338, + -0.23868215084075928 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 575, + 592, + 720, + 734 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 18 cm, move down 1 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.43067240715026855, + -0.042861513793468475, + 0.039642736315727234, + 3.04547119140625, + -0.2780691385269165, + -0.23289327323436737 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has approached the silver pot on the right burner and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the pot. The next action is to close the gripper around the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 15 cm, move down 3 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.41245898604393005, + -0.002305002650246024, + 0.04369773343205452, + 3.0633485317230225, + -0.21712593734264374, + -0.2125423103570938 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move down 4 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39286869764328003, + 0.019905075430870056, + 0.039655666798353195, + 3.1003172397613525, + -0.17197322845458984, + -0.245508074760437 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 3 cm, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.37522006034851074, + 0.05394074320793152, + 0.03343148157000542, + 3.0773282051086426, + -0.16023136675357819, + -0.2317200005054474 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3664562404155731, + 0.08420851081609726, + 0.03325030207633972, + 3.0305309295654297, + -0.17927853763103485, + -0.254863977432251 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691428303718567, + 0.08939722180366516, + 0.016154352575540543, + 2.9799458980560303, + -0.15670357644557953, + -0.2917557656764984 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3766927421092987, + 0.09526914358139038, + 0.010043857619166374, + 2.9927480220794678, + -0.13910190761089325, + -0.31422099471092224 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3812410235404968, + 0.10280027985572815, + 0.0030606584623456, + 3.0089311599731445, + -0.1002180352807045, + -0.2901209890842438 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37857943773269653, + 0.10438208281993866, + 0.002347127068787813, + 2.9933226108551025, + -0.047735463827848434, + -0.22571425139904022 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3701785206794739, + 0.10502258688211441, + 0.0017594328382983804, + 2.9860546588897705, + 0.01860518753528595, + -0.14441727101802826 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3606328070163727, + 0.10763312876224518, + 0.0063770608976483345, + 2.999601364135742, + 0.11281745880842209, + -0.022591281682252884 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3568620979785919, + 0.11010459065437317, + 0.006843097507953644, + 3.0061278343200684, + 0.14314858615398407, + 0.07549148052930832 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35585448145866394, + 0.11579827964305878, + 0.008177977055311203, + 3.0073800086975098, + 0.14448508620262146, + 0.10101127624511719 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575892150402069, + 0.11411769688129425, + -0.0008728427928872406, + 3.0007171630859375, + 0.09629970788955688, + 0.06577116996049881 + ], + "gripper_value": 0.05192930996417999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3579723536968231, + 0.11445706337690353, + -0.002794216852635145, + 3.020941972732544, + 0.03173672407865524, + 0.00920954067260027 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 575, + 594, + 720, + 733 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The robot has successfully grasped the silver pot from the right burner and is currently lifting it. The gripper remains closed with minimal motion variance, indicating a secure hold. The next action is to transport the pot toward the bottom left burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.36592426896095276, + 0.1122836247086525, + -0.0063302479684352875, + 3.052253484725952, + -0.03538235276937485, + -0.053376276046037674 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating the pot is securely grasped during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3762125074863434, + 0.10764389485120773, + -0.006100641097873449, + 3.0443594455718994, + -0.10066209733486176, + -0.09768989682197571 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating the pot is securely grasped during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.388902872800827, + 0.10232532024383545, + -0.006944241002202034, + 3.0131783485412598, + -0.14827722311019897, + -0.18738816678524017 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating the pot is securely grasped during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.39409032464027405, + 0.10309853404760361, + -0.01374317891895771, + 3.020096778869629, + -0.12393084913492203, + -0.19953568279743195 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating the pot is securely grasped during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3999224603176117, + 0.10148081183433533, + -0.017566297203302383, + 3.0639169216156006, + -0.0676126778125763, + -0.18578843772411346 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating the pot is securely grasped during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3982951045036316, + 0.1027834415435791, + -0.018537266179919243, + 3.078221559524536, + -0.047245100140571594, + -0.13755770027637482 + ], + "gripper_value": 0.21544429659843445 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating the pot is securely grasped during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3982295095920563, + 0.10296543687582016, + -0.019225984811782837, + 3.082073926925659, + -0.04381857439875603, + -0.12100938707590103 + ], + "gripper_value": 0.472818523645401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "place pot on target burner", + "subtask_reasoning": "The silver pot is currently held by the gripper and positioned directly above the bottom left burner. The gripper is closed, indicating the pot is securely grasped during the placement phase. The next action is to lower the pot gently onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3899293541908264, + 0.09819389879703522, + -0.024869995191693306, + 3.082019329071045, + -0.01005465630441904, + -0.10797291994094849 + ], + "gripper_value": 0.7845786809921265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "retreat from placed pot", + "subtask_reasoning": "The silver pot is successfully placed on the bottom left burner, and the gripper is open and retreating. The current subtask involves moving the arm away from the pot to complete the placement action. The next step is to continue retreating to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 40, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3925215005874634, + 0.08211129903793335, + 0.01102164201438427, + 3.108405113220215, + -0.06697594374418259, + -0.09473024308681488 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 575, + 594, + 720, + 733 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot on the bottom left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on target burner" + }, + { + "id": 5, + "subtask": "retreat from placed pot" + } + ], + "subtask_name": "retreat from placed pot", + "subtask_reasoning": "The silver pot is successfully placed on the bottom left burner, and the gripper is open and retreating. The current subtask involves moving the arm away from the pot to complete the placement action. The next step is to continue retreating to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 40, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000737_ecot.json b/cot/chunk-0000/episode_0000737_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bed65a228a8bb03c54b893f0189788845146af7e --- /dev/null +++ b/cot/chunk-0000/episode_0000737_ecot.json @@ -0,0 +1,3029 @@ +{ + "task_name": "episode_0000737", + "episode_json": "json/chunk-0000/episode_0000737.json", + "video_path": "videos/chunk-0000/image_0/episode_0000737.mp4", + "instruction": "Put the chicken wing on the red cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000737.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.9576239585876465, + "std": 0.3009181022644043, + "delta_total": 0.0019985437393188477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95762, std=0.30092, total_delta=0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 214, + 214, + 214, + 214, + 214, + 214, + 221, + 221, + 321, + 321, + 321, + 421, + 421, + 421, + 421, + 421, + 121, + 121, + 121, + 521, + 521, + 521, + 521, + 521, + 521, + 521, + 521 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 14 + ], + [ + 3, + 15, + 20 + ], + [ + 4, + 21, + 22 + ], + [ + 5, + 23, + 25 + ], + [ + 6, + 26, + 30 + ], + [ + 7, + 31, + 33 + ], + [ + 8, + 34, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach chicken wing\", \"start\": 0, \"end\": 13, \"planning\": \"Move gripper down toward the chicken wing on the table and close fingers to make contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift chicken wing\", \"start\": 14, \"end\": 20, \"planning\": \"Secure grip on chicken wing and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"reposition over red cloth\", \"start\": 21, \"end\": 25, \"planning\": \"Translate gripper carrying chicken wing toward the red cloth area.\"},\n {\"id\": 4, \"name\": \"lower toward red cloth\", \"start\": 26, \"end\": 30, \"planning\": \"Descend with chicken wing to position it just above the red cloth.\"},\n {\"id\": 5, \"name\": \"release chicken wing on red cloth\", \"start\": 31, \"end\": 33, \"planning\": \"Open gripper to drop chicken wing onto the red cloth.\"},\n {\"id\": 6, \"name\": \"retreat from placement zone\", \"start\": 34, \"end\": 41, \"planning\": \"Lift and move gripper away from the red cloth after releasing the chicken wing.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, lower, release, and retreat to place the chicken wing on the red cloth.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper state changes; grasp wording used only where segment-level gripper closure and image evidence support it.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach chicken wing", + "start": 0, + "end": 13, + "planning": "Move gripper down toward the chicken wing on the table and close fingers to make contact." + }, + { + "id": 2, + "name": "grasp and lift chicken wing", + "start": 14, + "end": 20, + "planning": "Secure grip on chicken wing and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "reposition over red cloth", + "start": 21, + "end": 25, + "planning": "Translate gripper carrying chicken wing toward the red cloth area." + }, + { + "id": 4, + "name": "lower toward red cloth", + "start": 26, + "end": 30, + "planning": "Descend with chicken wing to position it just above the red cloth." + }, + { + "id": 5, + "name": "release chicken wing on red cloth", + "start": 31, + "end": 33, + "planning": "Open gripper to drop chicken wing onto the red cloth." + }, + { + "id": 6, + "name": "retreat from placement zone", + "start": 34, + "end": 41, + "planning": "Lift and move gripper away from the red cloth after releasing the chicken wing." + } + ], + "global_plan": "Approach, grasp, lift, transport, lower, release, and retreat to place the chicken wing on the red cloth.", + "notes": "Subtasks align with observed motion segments and gripper state changes; grasp wording used only where segment-level gripper closure and image evidence support it." + } + }, + "episode_goal": "Place the chicken wing on the red cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29434511065483093, + 0.13412028551101685, + 0.09733185172080994, + -3.1166491508483887, + -0.10242163389921188, + -0.018916483968496323 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot is positioned above the table with the chicken wing visible on the surface. The gripper is open and has not yet made contact with the chicken wing. The next action should be to move the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move down 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29142582416534424, + 0.1330731362104416, + 0.08618459850549698, + -3.1324474811553955, + -0.07413440942764282, + -0.010624040849506855 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot is positioned above the table with the chicken wing visible on the surface. The gripper is open and has not yet made contact with the chicken wing. The next action should be to move the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26860377192497253, + 0.11629209667444229, + 0.06969320774078369, + -3.1347596645355225, + -0.039154052734375, + -0.021298488602042198 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot is positioned above the table with the chicken wing visible on the surface. The gripper is open and has not yet made contact with the chicken wing. The next action should be to move the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24353386461734772, + 0.10462379455566406, + 0.06416341662406921, + -3.122509002685547, + -0.04524606838822365, + -0.01795988902449608 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot is positioned above the table with the chicken wing visible on the surface. The gripper is open and has not yet made contact with the chicken wing. The next action should be to move the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21974602341651917, + 0.08225780725479126, + 0.0471358448266983, + -3.125429391860962, + -0.051319193094968796, + -0.0081484355032444 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 433, + 512, + 659, + 801 + ], + "microwave": [ + 275, + 3, + 668, + 234 + ], + "tomato sauce": [ + 639, + 41, + 783, + 295 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot is positioned above the table with the chicken wing visible on the surface. The gripper is open and has not yet made contact with the chicken wing. The next action should be to move the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21584999561309814, + 0.06218905746936798, + 0.035511333495378494, + -3.1140384674072266, + -0.0575871616601944, + -0.0069689140655100346 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot is positioned above the table with the chicken wing visible on the surface. The gripper is open and has not yet made contact with the chicken wing. The next action should be to move the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21673078835010529, + 0.0483795665204525, + 0.027798369526863098, + -3.103074073791504, + -0.06587810069322586, + -0.00684326933696866 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, close gripper; then move forward 4 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22045272588729858, + 0.038213904947042465, + 0.022523846477270126, + -3.1114208698272705, + -0.07494859397411346, + 0.01561078242957592 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 7 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22477589547634125, + 0.035969000309705734, + 0.019805001094937325, + -3.12073016166687, + -0.079982228577137, + 0.06599284708499908 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 10 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2304038107395172, + 0.03722979128360748, + 0.012578875757753849, + -3.121548652648926, + -0.06523285806179047, + 0.09916077554225922 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, close gripper; then move forward 9 cm, move up 8 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2406204640865326, + 0.04195665568113327, + 0.006972858216613531, + -3.1031479835510254, + -0.0486408993601799, + 0.1138095036149025 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 7 cm, move right 1 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2485530823469162, + 0.04860765114426613, + 0.006569633260369301, + -3.090923547744751, + -0.047071799635887146, + 0.12287802249193192 + ], + "gripper_value": 0.927960216999054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 432, + 512, + 659, + 800 + ], + "microwave": [ + 280, + 2, + 670, + 235 + ], + "tomato sauce": [ + 639, + 41, + 783, + 295 + ], + "apple slicer": [ + 43, + 4, + 488, + 676 + ], + "corn": [ + 768, + 129, + 920, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 2 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25127550959587097, + 0.05315070226788521, + 0.006308808457106352, + -3.0790092945098877, + -0.04732508584856987, + 0.10671082884073257 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 2 cm, move up 4 cm, open gripper; then move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25099626183509827, + 0.05265546217560768, + 0.007238331716507673, + -3.094029188156128, + -0.03365261107683182, + 0.08503976464271545 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 2 cm, move up 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24886830151081085, + 0.05286911502480507, + 0.009572486393153667, + -3.1271042823791504, + -0.005566720385104418, + 0.04356754571199417 + ], + "gripper_value": 0.4587424397468567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 4 cm, open gripper; then move forward 2 cm, move right 1 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2579996585845947, + 0.05147809907793999, + 0.023630259558558464, + 3.1240265369415283, + -0.02406642958521843, + 0.01378329936414957 + ], + "gripper_value": 0.227462038397789 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 2 cm, open gripper; then move forward 3 cm, move right 1 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28398507833480835, + 0.04751960560679436, + 0.059001531451940536, + 3.069869041442871, + -0.0943678542971611, + 0.015248666517436504 + ], + "gripper_value": 0.08926420658826828 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 430, + 513, + 657, + 802 + ], + "tomato sauce": [ + 639, + 41, + 782, + 296 + ], + "microwave": [ + 387, + 3, + 669, + 233 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift chicken wing", + "subtask_reasoning": "The robot arm is positioned above the wooden table, with the gripper open and hovering near the chicken wing. No contact has been made yet, and the subtask of approaching the chicken wing is still in progress. The next action should involve moving the gripper closer to the chicken wing to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3189832270145416, + 0.048655882477760315, + 0.09275468438863754, + 3.0428824424743652, + -0.17154507339000702, + 0.04377688467502594 + ], + "gripper_value": 0.050379663705825806 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift chicken wing", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken wing on the wooden counter, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper to grasp the chicken wing. The next action is to close the gripper to secure the chicken wing before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34521937370300293, + 0.05304191634058952, + 0.09700131416320801, + 3.0382697582244873, + -0.18341243267059326, + 0.07273419946432114 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift chicken wing", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken wing on the wooden counter, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper to grasp the chicken wing. The next action is to close the gripper to secure the chicken wing before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34298619627952576, + 0.05765482783317566, + 0.08624674379825592, + 3.0738847255706787, + -0.15623678267002106, + 0.06535225361585617 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift chicken wing", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken wing on the wooden counter, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper to grasp the chicken wing. The next action is to close the gripper to secure the chicken wing before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222403824329376, + 0.04419867321848869, + 0.06120121106505394, + 3.104588031768799, + -0.08596896380186081, + 0.031726937741041183 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp and lift chicken wing", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken wing on the wooden counter, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper to grasp the chicken wing. The next action is to close the gripper to secure the chicken wing before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29671916365623474, + 0.034073155373334885, + 0.046242959797382355, + 3.1278274059295654, + -0.03921809419989586, + 0.07043066620826721 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "reposition over red cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken wing on the wooden counter, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper to grasp the chicken wing. The next action is to close the gripper to secure the chicken wing before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916696071624756, + 0.02568184956908226, + 0.03925418108701706, + -3.140655517578125, + -0.0369793139398098, + 0.15665166079998016 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "reposition over red cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chicken wing on the wooden counter, with the gripper open and ready. The approach phase is complete, and the system is prepared to close the gripper to grasp the chicken wing. The next action is to close the gripper to secure the chicken wing before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019941747188568, + 0.023000255227088928, + 0.029507702216506004, + 3.1254522800445557, + -0.015830880030989647, + 0.263839453458786 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "reposition over red cloth", + "subtask_reasoning": "The robot is currently holding the chicken wing above the table, having completed the grasp and lift phases. The end-effector is positioned near the center of the workspace but needs to move laterally to align directly over the red cloth. The next action is to transport the object horizontally towards the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31644076108932495, + 0.02110343426465988, + 0.026006855070590973, + 3.1068968772888184, + -0.003579137846827507, + 0.35228410363197327 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "reposition over red cloth", + "subtask_reasoning": "The robot is currently holding the chicken wing above the table, having completed the grasp and lift phases. The end-effector is positioned near the center of the workspace but needs to move laterally to align directly over the red cloth. The next action is to transport the object horizontally towards the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3238038122653961, + 0.02354019321501255, + 0.017429115250706673, + 3.1196470260620117, + 0.010486423037946224, + 0.41306811571121216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "reposition over red cloth", + "subtask_reasoning": "The robot is currently holding the chicken wing above the table, having completed the grasp and lift phases. The end-effector is positioned near the center of the workspace but needs to move laterally to align directly over the red cloth. The next action is to transport the object horizontally towards the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245667517185211, + 0.025576362386345863, + 0.007481517270207405, + -3.130746841430664, + 0.009128699079155922, + 0.41910138726234436 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lower toward red cloth", + "subtask_reasoning": "The robot is currently holding the chicken wing above the table, having completed the grasp and lift phases. The end-effector is positioned near the center of the workspace but needs to move laterally to align directly over the red cloth. The next action is to transport the object horizontally towards the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31963223218917847, + 0.02365991286933422, + 0.004261022433638573, + -3.09792160987854, + -0.017661655321717262, + 0.38128769397735596 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lower toward red cloth", + "subtask_reasoning": "The robot is currently holding the chicken wing above the table, having completed the grasp and lift phases. The end-effector is positioned near the center of the workspace but needs to move laterally to align directly over the red cloth. The next action is to transport the object horizontally towards the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31286799907684326, + 0.021565422415733337, + 0.00464114872738719, + -3.0755321979522705, + -0.04146365448832512, + 0.33687910437583923 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lower toward red cloth", + "subtask_reasoning": "The robot is lowering the chicken wing toward the red cloth, with the gripper still holding the object as indicated by the segment-level gripper evidence. The end effector is positioned above the cloth, preparing for release. The next action is to continue lowering until contact with the cloth is made, then release the chicken wing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30592137575149536, + 0.02496449276804924, + 0.01816844567656517, + -3.0887601375579834, + -0.03415706753730774, + 0.3010498881340027 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lower toward red cloth", + "subtask_reasoning": "The robot is lowering the chicken wing toward the red cloth, with the gripper still holding the object as indicated by the segment-level gripper evidence. The end effector is positioned above the cloth, preparing for release. The next action is to continue lowering until contact with the cloth is made, then release the chicken wing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3191869258880615, + 0.032512128353118896, + 0.05983559414744377, + -3.1345560550689697, + -0.12482010573148727, + 0.3097265958786011 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 430, + 513, + 658, + 803 + ], + "tomato sauce": [ + 639, + 40, + 782, + 296 + ], + "apple slicer": [ + 320, + 10, + 576, + 469 + ], + "corn": [ + 767, + 129, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lower toward red cloth", + "subtask_reasoning": "The robot is lowering the chicken wing toward the red cloth, with the gripper still holding the object as indicated by the segment-level gripper evidence. The end effector is positioned above the cloth, preparing for release. The next action is to continue lowering until contact with the cloth is made, then release the chicken wing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32569068670272827, + 0.0416816808283329, + 0.07895098626613617, + 3.121333122253418, + -0.13208124041557312, + 0.32410067319869995 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release chicken wing on red cloth", + "subtask_reasoning": "The robot is lowering the chicken wing toward the red cloth, with the gripper still holding the object as indicated by the segment-level gripper evidence. The end effector is positioned above the cloth, preparing for release. The next action is to continue lowering until contact with the cloth is made, then release the chicken wing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move back 8 cm, move left 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3516891598701477, + 0.0481056272983551, + 0.08949274569749832, + 3.113436460494995, + -0.14613354206085205, + 0.3187685012817383 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release chicken wing on red cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the red cloth with the gripper open, indicating the chicken wing has been released. The current subtask involves confirming the release and preparing to retreat. The next action is likely to move the arm away from the red cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 4 cm, keep gripper closed; then move back 8 cm, move left 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821839690208435, + 0.06338316202163696, + 0.07109726965427399, + 3.1273767948150635, + -0.11755239963531494, + 0.34960174560546875 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release chicken wing on red cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the red cloth with the gripper open, indicating the chicken wing has been released. The current subtask involves confirming the release and preparing to retreat. The next action is likely to move the arm away from the red cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move back 8 cm, move left 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.399538516998291, + 0.0740988701581955, + 0.054215043783187866, + -3.1353135108947754, + -0.09700192511081696, + 0.3768303692340851 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The robot's end-effector is positioned above the red cloth with the gripper open, indicating the chicken wing has been released. The current subtask involves confirming the release and preparing to retreat. The next action is likely to move the arm away from the red cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4116199016571045, + 0.0776161402463913, + 0.040155939757823944, + -3.1219727993011475, + -0.0706278458237648, + 0.3915803134441376 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The robot's end-effector is positioned above the red cloth with the gripper open, indicating the chicken wing has been released. The current subtask involves confirming the release and preparing to retreat. The next action is likely to move the arm away from the red cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4253995716571808, + 0.08006588369607925, + 0.03171645477414131, + -3.1227879524230957, + -0.07376299798488617, + 0.3967192471027374 + ], + "gripper_value": 0.6109193563461304 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The robot's end-effector is positioned above the red cloth with the gripper open, indicating the chicken wing has been released. The current subtask involves confirming the release and preparing to retreat. The next action is likely to move the arm away from the red cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4253199100494385, + 0.08148255944252014, + 0.03014570102095604, + -3.1091458797454834, + -0.05477708578109741, + 0.39214715361595154 + ], + "gripper_value": 0.9066257476806641 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The chicken wing has been placed on the red cloth, and the gripper is now open and retreating from the placement zone. The robot arm is moving away to complete the subtask, with no further contact needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.41522032022476196, + 0.07742457091808319, + 0.027727726846933365, + -3.1178152561187744, + -0.032679807394742966, + 0.35638001561164856 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The chicken wing has been placed on the red cloth, and the gripper is now open and retreating from the placement zone. The robot arm is moving away to complete the subtask, with no further contact needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3971371650695801, + 0.07665014266967773, + 0.07205365598201752, + -3.1324727535247803, + -0.10605098307132721, + 0.29276198148727417 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The chicken wing has been placed on the red cloth, and the gripper is now open and retreating from the placement zone. The robot arm is moving away to complete the subtask, with no further contact needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.35563963651657104, + 0.08587172627449036, + 0.08685345947742462, + -3.0931694507598877, + -0.10145239531993866, + 0.20831522345542908 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 430, + 513, + 657, + 801 + ], + "tomato sauce": [ + 638, + 40, + 782, + 294 + ], + "corn": [ + 768, + 129, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The chicken wing has been placed on the red cloth, and the gripper is now open and retreating from the placement zone. The robot arm is moving away to complete the subtask, with no further contact needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.32339900732040405, + 0.09298630058765411, + 0.0791589617729187, + -3.0447683334350586, + -0.08358284085988998, + 0.12205678224563599 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chicken wing on the red cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chicken wing" + }, + { + "id": 2, + "subtask": "grasp and lift chicken wing" + }, + { + "id": 3, + "subtask": "reposition over red cloth" + }, + { + "id": 4, + "subtask": "lower toward red cloth" + }, + { + "id": 5, + "subtask": "release chicken wing on red cloth" + }, + { + "id": 6, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The chicken wing has been placed on the red cloth, and the gripper is now open and retreating from the placement zone. The robot arm is moving away to complete the subtask, with no further contact needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000739_ecot.json b/cot/chunk-0000/episode_0000739_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..106c97e2e0214d59adf9502872da505846b265fe --- /dev/null +++ b/cot/chunk-0000/episode_0000739_ecot.json @@ -0,0 +1,6287 @@ +{ + "task_name": "episode_0000739", + "episode_json": "json/chunk-0000/episode_0000739.json", + "video_path": "videos/chunk-0000/image_0/episode_0000739.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 95, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000739.json" + }, + "fps": 5.0, + "T_eff": 95, + "gripper_behavior_summary": { + "available": true, + "range": 0.2504922151565552, + "std": 0.07809119671583176, + "delta_total": -0.24982762336730957, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.25049, std=0.07809, total_delta=-0.24983). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 31 + ], + [ + 2, + 32, + 32 + ], + [ + 3, + 33, + 36 + ], + [ + 4, + 37, + 57 + ], + [ + 5, + 58, + 68 + ], + [ + 6, + 69, + 77 + ], + [ + 7, + 78, + 79 + ], + [ + 8, + 80, + 94 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper\", \"start\": 0, \"end\": 31, \"planning\": \"Move the brush toward the scattered beans while closing the gripper to prepare for sweeping contact.\"},\n {\"id\": 2, \"name\": \"sweep beans leftward\", \"start\": 32, \"end\": 57, \"planning\": \"Drag the brush across the tray to push beans into a growing pile on the left side.\"},\n {\"id\": 3, \"name\": \"reposition for final sweep\", \"start\": 58, \"end\": 68, \"planning\": \"Lift and reposition the brush to align for consolidating remaining scattered beans.\"},\n {\"id\": 4, \"name\": \"final sweep into pile\", \"start\": 69, \"end\": 77, \"planning\": \"Push the last few scattered beans into the main pile using controlled brush motion.\"},\n {\"id\": 5, \"name\": \"retreat from pile\", \"start\": 78, \"end\": 94, \"planning\": \"Withdraw the brush away from the completed bean pile to conclude the sweeping task.\"}\n ],\n \"global_plan\": \"Sweep scattered beans into a single pile using a brush attached to the end-effector, starting with approach and gripper closure, followed by multiple sweeping phases and ending with retreat.\",\n \"notes\": \"Gripper closes significantly only in Segment 1; all other segments show no meaningful closing, so actions are described as contact-based (sweep, push, drag) without grasping. Frame ranges follow provided segment spans with minor merges for natural phase grouping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper", + "start": 0, + "end": 31, + "planning": "Move the brush toward the scattered beans while closing the gripper to prepare for sweeping contact." + }, + { + "id": 2, + "name": "sweep beans leftward", + "start": 32, + "end": 57, + "planning": "Drag the brush across the tray to push beans into a growing pile on the left side." + }, + { + "id": 3, + "name": "reposition for final sweep", + "start": 58, + "end": 68, + "planning": "Lift and reposition the brush to align for consolidating remaining scattered beans." + }, + { + "id": 4, + "name": "final sweep into pile", + "start": 69, + "end": 77, + "planning": "Push the last few scattered beans into the main pile using controlled brush motion." + }, + { + "id": 5, + "name": "retreat from pile", + "start": 78, + "end": 94, + "planning": "Withdraw the brush away from the completed bean pile to conclude the sweeping task." + } + ], + "global_plan": "Sweep scattered beans into a single pile using a brush attached to the end-effector, starting with approach and gripper closure, followed by multiple sweeping phases and ending with retreat.", + "notes": "Gripper closes significantly only in Segment 1; all other segments show no meaningful closing, so actions are described as contact-based (sweep, push, drag) without grasping. Frame ranges follow provided segment spans with minor merges for natural phase grouping." + } + }, + "episode_goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.36529672145843506, + -0.017768744379281998, + 0.09466014057397842, + 2.923351526260376, + -0.16574907302856445, + 0.8514814972877502 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36407163739204407, + -0.019040288403630257, + 0.08279488235712051, + 2.9462907314300537, + -0.1378665417432785, + 0.843521773815155 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3709995746612549, + -0.011063243262469769, + 0.07040940225124359, + 2.9379684925079346, + -0.06660676747560501, + 0.8067688941955566 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767651617527008, + -0.0031486640218645334, + 0.06531286239624023, + 2.9316530227661133, + -0.07309380173683167, + 0.7687358260154724 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow can": [ + 690, + 105, + 831, + 311 + ], + "white tray": [ + 4, + 126, + 787, + 898 + ], + "black device": [ + 467, + 8, + 691, + 362 + ], + "white brush": [ + 558, + 296, + 690, + 537 + ], + "wooden table": [ + 5, + 127, + 935, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769274353981018, + -0.005535997916013002, + 0.05812664330005646, + 2.945707321166992, + -0.07175063341856003, + 0.7630146741867065 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37871214747428894, + -0.010317018255591393, + 0.05622844025492668, + 2.9351863861083984, + -0.09281691908836365, + 0.7644421458244324 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3755375146865845, + -0.015216081403195858, + 0.04959087446331978, + 2.939602851867676, + -0.10330980271100998, + 0.7586354613304138 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37447744607925415, + -0.01952836476266384, + 0.04739980027079582, + 2.940147638320923, + -0.10298813134431839, + 0.753785252571106 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37399962544441223, + -0.018293531611561775, + 0.0452231727540493, + 2.9401187896728516, + -0.10972516238689423, + 0.7682781219482422 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3736225366592407, + -0.018173523247241974, + 0.03449971601366997, + 2.9676403999328613, + -0.1112295612692833, + 0.7687245607376099 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37256547808647156, + -0.017395345494151115, + 0.02790885418653488, + 2.9871597290039062, + -0.1058584451675415, + 0.7766811847686768 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3747920095920563, + -0.01764245145022869, + 0.02448156848549843, + 2.9872069358825684, + -0.09802765399217606, + 0.8016728758811951 + ], + "gripper_value": 0.7604051232337952 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37561267614364624, + -0.01670774631202221, + 0.024670038372278214, + 2.9765257835388184, + -0.09268132597208023, + 0.8220366835594177 + ], + "gripper_value": 0.7545521855354309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37615957856178284, + -0.012001501396298409, + 0.024836314842104912, + 2.966381788253784, + -0.08511277288198471, + 0.8317039012908936 + ], + "gripper_value": 0.7545521855354309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37623733282089233, + 0.00012909759243484586, + 0.024910617619752884, + 2.96167254447937, + -0.08069086819887161, + 0.8444361090660095 + ], + "gripper_value": 0.7545521855354309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37461259961128235, + 0.011418775655329227, + 0.02313310280442238, + 2.9549460411071777, + -0.08152376115322113, + 0.8377220034599304 + ], + "gripper_value": 0.7545521855354309 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white brush": [ + 534, + 331, + 648, + 507 + ], + "white tray": [ + 4, + 129, + 787, + 896 + ], + "yellow can": [ + 593, + 20, + 719, + 270 + ], + "wooden table": [ + 5, + 129, + 938, + 989 + ], + "wheeled chassis": [ + 682, + 347, + 995, + 992 + ], + "black device": [ + 455, + 11, + 668, + 456 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36935290694236755, + 0.020129606127738953, + 0.01738087274134159, + 2.9612836837768555, + -0.08880480378866196, + 0.827163815498352 + ], + "gripper_value": 0.7545521855354309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36468416452407837, + 0.029978252947330475, + 0.013320676051080227, + 2.9600439071655273, + -0.10755881667137146, + 0.8167805671691895 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585803806781769, + 0.04073357582092285, + 0.011775230057537556, + 2.964782476425171, + -0.13088048994541168, + 0.8143394589424133 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3530787229537964, + 0.04953378438949585, + 0.011918802745640278, + 2.9661760330200195, + -0.13958300650119781, + 0.8158673644065857 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 13 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34206706285476685, + 0.06422936916351318, + 0.01207384467124939, + 2.971585273742676, + -0.1319388449192047, + 0.8268609642982483 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33816662430763245, + 0.07494733482599258, + 0.011776809580624104, + 2.978351593017578, + -0.1351364403963089, + 0.8271775245666504 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33414751291275024, + 0.0879301205277443, + 0.011118031106889248, + 2.983081579208374, + -0.13239359855651855, + 0.8475728631019592 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 13 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.330738365650177, + 0.10273229330778122, + 0.010940967127680779, + 2.9907450675964355, + -0.12418760359287262, + 0.8715762495994568 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3255637288093567, + 0.11934328824281693, + 0.010477700270712376, + 2.9970638751983643, + -0.11880852282047272, + 0.9008731842041016 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180922865867615, + 0.13625454902648926, + 0.010609031654894352, + 3.00352144241333, + -0.11796385049819946, + 0.9200091361999512 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30556195974349976, + 0.14882218837738037, + 0.01112632267177105, + 3.0105724334716797, + -0.11523647606372833, + 0.9380801320075989 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 5 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28908753395080566, + 0.16199693083763123, + 0.011228826828300953, + 3.0193610191345215, + -0.11018330603837967, + 0.9592146873474121 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white brush": [ + 238, + 335, + 348, + 505 + ], + "yellow can": [ + 588, + 20, + 719, + 272 + ], + "white tray": [ + 5, + 151, + 760, + 906 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 12 cm, move up 6 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768814265727997, + 0.17081688344478607, + 0.012121184729039669, + 3.024350643157959, + -0.11182911694049835, + 0.9818446040153503 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 17 cm, move up 5 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26807764172554016, + 0.18090541660785675, + 0.011340245604515076, + 3.046684503555298, + -0.13229982554912567, + 0.9845741391181946 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 22 cm, move up 3 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26491937041282654, + 0.18882837891578674, + 0.010609947144985199, + 3.0658509731292725, + -0.1520487368106842, + 0.9927409887313843 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot is positioned above the white tray with scattered black beans, and the brush is not yet in contact with the surface. The gripper is fully open, indicating the approach phase is ongoing but closure has not yet occurred. The next action should be to lower the brush slightly and close the gripper to prepare for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 24 cm, move up 3 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670406997203827, + 0.20328325033187866, + 0.010093504562973976, + 3.1041171550750732, + -0.19406871497631073, + 1.0419050455093384 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "approach and close gripper", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 6 cm, move right 25 cm, move up 2 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26646649837493896, + 0.21595941483974457, + 0.010289140976965427, + -3.1401050090789795, + -0.2603326439857483, + 1.0765591859817505 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 24 cm, move up 2 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2661021947860718, + 0.20912247896194458, + 0.010367236100137234, + 3.1121466159820557, + -0.23417027294635773, + 1.0876619815826416 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 22 cm, move up 1 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.25527849793434143, + 0.19336751103401184, + 0.012309185229241848, + 3.0738298892974854, + -0.14624670147895813, + 1.0948842763900757 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 19 cm, tilt right 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556172311306, + 0.1607079803943634, + 0.028860492631793022, + 2.986349582672119, + -0.023916548117995262, + 1.0811318159103394 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 16 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.274638295173645, + 0.12784144282341003, + 0.05531720072031021, + 2.881118059158325, + -0.03819994255900383, + 1.0316836833953857 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow can": [ + 587, + 20, + 719, + 271 + ], + "white tray": [ + 4, + 149, + 760, + 907 + ], + "white brush": [ + 223, + 350, + 328, + 511 + ], + "wooden table": [ + 5, + 131, + 936, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 11 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815456986427307, + 0.09198542684316635, + 0.06813052296638489, + 2.829571008682251, + -0.016111522912979126, + 0.9820564985275269 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2914157211780548, + 0.04270918294787407, + 0.06335190683603287, + 2.801084280014038, + 0.0008845870615914464, + 0.8829498887062073 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3010554313659668, + -0.004958767909556627, + 0.04392525181174278, + 2.809264659881592, + 0.03271915391087532, + 0.7985998392105103 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white brush": [ + 451, + 405, + 595, + 595 + ], + "blue cup": [ + 438, + 2, + 612, + 224 + ], + "white tray": [ + 4, + 128, + 762, + 907 + ], + "wheeled chassis": [ + 680, + 336, + 995, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160894811153412, + -0.02294064126908779, + 0.041699331253767014, + 2.790477752685547, + 0.028059402480721474, + 0.7601602077484131 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 14 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3271089792251587, + -0.02997957542538643, + 0.0346573181450367, + 2.795520067214966, + -0.015294764190912247, + 0.6703889966011047 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 18 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3301035761833191, + -0.024879349395632744, + 0.030953867360949516, + 2.808948040008545, + -0.07348813116550446, + 0.6356869339942932 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 19 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.32259422540664673, + -0.010898975655436516, + 0.020997200161218643, + 2.836789131164551, + -0.08723451942205429, + 0.610232949256897 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The robot has approached the scattered black beans on the white tray and is positioned above them with the brush attached. The gripper is currently open, indicating that the closing action has not yet occurred. The next step is to close the gripper to secure the brush for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 19 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3153766691684723, + -0.0005845848354510963, + 0.016218315809965134, + 2.8438591957092285, + -0.08916264027357101, + 0.6065371036529541 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 19 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.31212273240089417, + 0.0036929738707840443, + 0.013255612924695015, + 2.8219783306121826, + -0.09402990341186523, + 0.6311608552932739 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 19 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.307413786649704, + 0.016428092494606972, + 0.009950156323611736, + 2.825216770172119, + -0.12491869181394577, + 0.6295309662818909 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 16 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.2983246445655823, + 0.038596656173467636, + 0.009232266806066036, + 2.839514970779419, + -0.14744579792022705, + 0.6388372182846069 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 13 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.2910947799682617, + 0.06460337340831757, + 0.009316996671259403, + 2.8591184616088867, + -0.13534347712993622, + 0.6595181822776794 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white brush": [ + 383, + 424, + 497, + 605 + ], + "yellow can": [ + 586, + 20, + 720, + 272 + ], + "black device": [ + 43, + 4, + 524, + 585 + ], + "white tray": [ + 4, + 183, + 760, + 910 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 9 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.287106454372406, + 0.09304672479629517, + 0.011128847487270832, + 2.8744451999664307, + -0.12663967907428741, + 0.6790013909339905 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.27791252732276917, + 0.11882490664720535, + 0.0124625563621521, + 2.904712200164795, + -0.11851049959659576, + 0.6853597164154053 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.2599659562110901, + 0.14809945225715637, + 0.011380653828382492, + 2.945136785507202, + -0.11950605362653732, + 0.709710419178009 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 11 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2447156310081482, + 0.16284741461277008, + 0.009909876622259617, + 2.975123643875122, + -0.13394558429718018, + 0.6987416744232178 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 12 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.23049789667129517, + 0.17828117311000824, + 0.009945470839738846, + 2.999765396118164, + -0.1406984180212021, + 0.7042871117591858 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 13 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.22608467936515808, + 0.18660832941532135, + 0.010004167445003986, + 3.0106306076049805, + -0.1671994924545288, + 0.7114776372909546 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 14 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.22541950643062592, + 0.1901506930589676, + 0.011666710488498211, + 2.999903917312622, + -0.167014017701149, + 0.7174860835075378 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 15 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.22402043640613556, + 0.17960676550865173, + 0.018341107293963432, + 2.9416139125823975, + -0.06871172785758972, + 0.7531632781028748 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 15 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.23457783460617065, + 0.17297028005123138, + 0.04640864208340645, + 2.86853289604187, + -0.027778010815382004, + 0.8007866144180298 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "sweep beans leftward", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 13 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 57 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 32, + "end": 57 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.24534672498703003, + 0.1584327071905136, + 0.06955854594707489, + 2.803443193435669, + 0.018449774011969566, + 0.7898359894752502 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514623701572418, + 0.12759272754192352, + 0.07915697991847992, + 2.772437334060669, + 0.03990216180682182, + 0.7596465945243835 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.2480185329914093, + 0.08481677621603012, + 0.06605374068021774, + 2.752305746078491, + 0.06935323774814606, + 0.7445122003555298 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.2503211796283722, + 0.05058930441737175, + 0.0587688609957695, + 2.719493865966797, + 0.061532001942396164, + 0.7144070267677307 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.25499945878982544, + 0.03380652889609337, + 0.05140949413180351, + 2.7141318321228027, + 0.034080538898706436, + 0.7182981371879578 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the black beans on the white tray, positioned to push them leftward. The gripper remains closed from the prior phase, and no new grasp action is occurring. The next action is to continue sweeping the beans toward the left side of the tray to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 44 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591995596885681, + 0.024810096248984337, + 0.04425854980945587, + 2.713063955307007, + 0.007209800183773041, + 0.71193927526474 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589564323425293, + 0.015419249422848225, + 0.031292904168367386, + 2.7178866863250732, + -0.00517575116828084, + 0.6959326863288879 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white brush": [ + 388, + 494, + 514, + 699 + ], + "white tray": [ + 4, + 178, + 764, + 915 + ], + "black device": [ + 3, + 5, + 529, + 647 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.257306843996048, + 0.012584126554429531, + 0.02162826806306839, + 2.7186689376831055, + 0.0028154640458524227, + 0.7028001546859741 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.2574132978916168, + 0.01306061539798975, + 0.016616273671388626, + 2.721097707748413, + -0.01115259900689125, + 0.6763255000114441 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 12 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.25163140892982483, + 0.024348216131329536, + 0.011453964747488499, + 2.750481128692627, + -0.01202098373323679, + 0.6378844380378723 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 14 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.24393486976623535, + 0.035701900720596313, + 0.009870619513094425, + 2.7699148654937744, + -0.03213336318731308, + 0.5882100462913513 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "reposition for final sweep", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper closed; then move forward 3 cm, move left 16 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 68 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 58, + "end": 68 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.23527908325195312, + 0.05185754597187042, + 0.01106756180524826, + 2.8323428630828857, + -0.06041393801569939, + 0.5308451652526855 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 16 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.23243097960948944, + 0.0638708844780922, + 0.01125667430460453, + 2.831740379333496, + -0.07596798241138458, + 0.5349576473236084 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 15 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.226991668343544, + 0.07443268597126007, + 0.010720016434788704, + 2.8395402431488037, + -0.10742377489805222, + 0.5186101794242859 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 14 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.2254144251346588, + 0.08779434859752655, + 0.010093760676681995, + 2.8404431343078613, + -0.15440715849399567, + 0.5173236131668091 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near the remaining scattered black beans after previous leftward sweeps. The gripper remains open and stable, indicating no grasping action. The next step is to reposition the brush to gather the remaining beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 13 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 63 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.22721587121486664, + 0.10439346730709076, + 0.00977474357932806, + 2.8472301959991455, + -0.20463648438453674, + 0.5267767906188965 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white brush": [ + 209, + 515, + 333, + 701 + ], + "yellow can": [ + 587, + 17, + 719, + 273 + ], + "white tray": [ + 5, + 120, + 763, + 917 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 11 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 4 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.23131632804870605, + 0.12246748805046082, + 0.0089781004935503, + 2.8610455989837646, + -0.2256329208612442, + 0.5479031205177307 + ], + "gripper_value": 0.7506401538848877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 6 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.24268533289432526, + 0.14620889723300934, + 0.00885072723031044, + 2.8982250690460205, + -0.24037392437458038, + 0.5866743326187134 + ], + "gripper_value": 0.7506401538848877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 9 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.24700072407722473, + 0.16753925383090973, + 0.009053543210029602, + 2.9819533824920654, + -0.23588994145393372, + 0.6089286804199219 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 12 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.2522062063217163, + 0.1908257156610489, + 0.010855946689844131, + 3.0700390338897705, + -0.23890917003154755, + 0.6331206560134888 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "final sweep into pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move right 14 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 77 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 69, + "end": 77 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.26053160429000854, + 0.2163693606853485, + 0.013037493452429771, + -3.133857011795044, + -0.24081073701381683, + 0.6826398968696594 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.26523691415786743, + 0.22453537583351135, + 0.012924670241773129, + -3.128584623336792, + -0.2302369326353073, + 0.6976069211959839 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 16 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.2535710632801056, + 0.21360300481319427, + 0.016579700633883476, + 3.0811827182769775, + -0.15984176099300385, + 0.6949259042739868 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.2509067952632904, + 0.19785518944263458, + 0.03392860293388367, + 2.9979023933410645, + -0.1067105382680893, + 0.7004786133766174 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.25243431329727173, + 0.185353621840477, + 0.05743585154414177, + 2.932180166244507, + -0.09674908965826035, + 0.6948937177658081 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 10 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.257254421710968, + 0.1797027885913849, + 0.06014629080891609, + 2.9041576385498047, + -0.10270655155181885, + 0.7039704918861389 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 7 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.2612974941730499, + 0.15708935260772705, + 0.05322392284870148, + 2.9097061157226562, + -0.07653401046991348, + 0.6195474863052368 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow can": [ + 587, + 19, + 721, + 272 + ], + "white tray": [ + 5, + 130, + 760, + 907 + ], + "wheeled chassis": [ + 680, + 356, + 995, + 992 + ], + "white brush": [ + 107, + 272, + 249, + 504 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 3 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.2654208242893219, + 0.13117364048957825, + 0.04153774306178093, + 2.927035093307495, + -0.06287909299135208, + 0.5608471632003784 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is in contact with the white tray, positioned near a cluster of black beans. Previous sweeping actions have consolidated most beans, and the current motion continues to gather the remaining scattered beans into the main pile. The next action involves a small lateral sweep to merge the last few beans into the central pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 73 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716304361820221, + 0.10088551789522171, + 0.03414897993206978, + 2.930759906768799, + -0.04978163540363312, + 0.5040874481201172 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.28271278738975525, + 0.0759599506855011, + 0.02615729533135891, + 2.9362893104553223, + -0.0384523868560791, + 0.4955025315284729 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009053170681, + 0.0643448680639267, + 0.01936044730246067, + 2.9472146034240723, + -0.06069204956293106, + 0.5034500956535339 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white brush": [ + 338, + 408, + 447, + 596 + ], + "yellow can": [ + 587, + 19, + 720, + 271 + ], + "wheeled chassis": [ + 679, + 341, + 995, + 991 + ], + "white tray": [ + 5, + 127, + 760, + 908 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 89, + "state_action_evidence": { + "ee_state_6d": [ + 0.321298748254776, + 0.0637061595916748, + 0.01481704507023096, + 2.944591999053955, + -0.07015763223171234, + 0.5332528352737427 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 90, + "state_action_evidence": { + "ee_state_6d": [ + 0.3407503068447113, + 0.06930872797966003, + 0.013517756015062332, + 2.936335802078247, + -0.08615795522928238, + 0.5634862184524536 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 91, + "state_action_evidence": { + "ee_state_6d": [ + 0.35692206025123596, + 0.07510843127965927, + 0.013231009244918823, + 2.930457353591919, + -0.09412410110235214, + 0.5893154144287109 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 92, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673937916755676, + 0.08646604418754578, + 0.01498339045792818, + 2.920762062072754, + -0.10613913089036942, + 0.6201752424240112 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 93, + "state_action_evidence": { + "ee_state_6d": [ + 0.36852407455444336, + 0.11066611856222153, + 0.01616632007062435, + 2.905076742172241, + -0.10535041987895966, + 0.6971697807312012 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + }, + { + "t": 94, + "state_action_evidence": { + "ee_state_6d": [ + 0.367914080619812, + 0.12930716574192047, + 0.01824585720896721, + 2.898155927658081, + -0.10646694898605347, + 0.746553897857666 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans on the white tray into a single pile using the brush attached to the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper" + }, + { + "id": 2, + "subtask": "sweep beans leftward" + }, + { + "id": 3, + "subtask": "reposition for final sweep" + }, + { + "id": 4, + "subtask": "final sweep into pile" + }, + { + "id": 5, + "subtask": "retreat from pile" + } + ], + "subtask_name": "retreat from pile", + "subtask_reasoning": "The brush is currently positioned above the white tray near the accumulated pile of black beans, having completed the sweeping motion. The gripper remains open and stable, indicating no active manipulation is occurring. The robot is now retreating from the pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 94 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 78, + "end": 94 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000740_ecot.json b/cot/chunk-0000/episode_0000740_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5b9e3da4908baeec971811d0cee4034e5db07557 --- /dev/null +++ b/cot/chunk-0000/episode_0000740_ecot.json @@ -0,0 +1,2202 @@ +{ + "task_name": "episode_0000740", + "episode_json": "json/chunk-0000/episode_0000740.json", + "video_path": "videos/chunk-0000/image_0/episode_0000740.mp4", + "instruction": "Open microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000740.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.6461327075958252, + "std": 0.23442919552326202, + "delta_total": 0.0006405115127563477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64613, std=0.23443, total_delta=0.00064). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 16, + 16, + 16, + 16, + 22, + 22, + 22, + 22, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 21 + ], + [ + 3, + 22, + 25 + ], + [ + 4, + 26, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave handle\", \"start\": 0, \"end\": 15, \"planning\": \"Move the end-effector toward the microwave door handle while closing the gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp microwave handle\", \"start\": 16, \"end\": 21, \"planning\": \"Securely close the gripper around the microwave handle and begin pulling the door open.\"},\n {\"id\": 3, \"name\": \"open microwave door\", \"start\": 22, \"end\": 25, \"planning\": \"Continue pulling the microwave door open by rotating and retracting the arm while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and retreat from microwave\", \"start\": 26, \"end\": 34, \"planning\": \"Open the gripper to release the handle and move the arm away from the microwave to complete the opening task.\"}\n ],\n \"global_plan\": \"The robot approaches the microwave, grasps the handle, pulls the door open, then releases and retreats to finish the task.\",\n \"notes\": \"Gripper closure is meaningful in segments 1–3, supporting grasp/open actions. Segment 4 shows no gripper motion, consistent with release and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave handle", + "start": 0, + "end": 15, + "planning": "Move the end-effector toward the microwave door handle while closing the gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp microwave handle", + "start": 16, + "end": 21, + "planning": "Securely close the gripper around the microwave handle and begin pulling the door open." + }, + { + "id": 3, + "name": "open microwave door", + "start": 22, + "end": 25, + "planning": "Continue pulling the microwave door open by rotating and retracting the arm while maintaining grip." + }, + { + "id": 4, + "name": "release and retreat from microwave", + "start": 26, + "end": 34, + "planning": "Open the gripper to release the handle and move the arm away from the microwave to complete the opening task." + } + ], + "global_plan": "The robot approaches the microwave, grasps the handle, pulls the door open, then releases and retreats to finish the task.", + "notes": "Gripper closure is meaningful in segments 1–3, supporting grasp/open actions. Segment 4 shows no gripper motion, consistent with release and retreat." + } + }, + "episode_goal": "Open the microwave door by grasping the handle and pulling it outward.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.216543510556221, + -0.12740558385849, + 0.056674957275390625, + 2.9586520195007324, + -0.13262632489204407, + 0.1155308336019516 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2141333818435669, + -0.1256372034549713, + 0.051745448261499405, + 2.9728305339813232, + -0.11554156988859177, + 0.11826737970113754 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22218789160251617, + -0.12455054372549057, + 0.05225561186671257, + 3.018265962600708, + -0.14611896872520447, + 0.12481287866830826 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23605336248874664, + -0.11551768332719803, + 0.05678059533238411, + 3.066575288772583, + -0.1589805781841278, + 0.12293950468301773 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25042134523391724, + -0.0953870415687561, + 0.06157969683408737, + 3.071716785430908, + -0.16955280303955078, + 0.10228823870420456 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26396146416664124, + -0.07752266526222229, + 0.06118989735841751, + 3.043393850326538, + -0.15049603581428528, + 0.07639635354280472 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fruit": [ + 369, + 725, + 437, + 822 + ], + "green plate": [ + 332, + 735, + 491, + 925 + ], + "microwave": [ + 269, + 9, + 924, + 487 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27955880761146545, + -0.07189226150512695, + 0.06928785890340805, + 3.0402841567993164, + -0.1491975337266922, + 0.04562119022011757 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the end-effector close to the handle. No grasping has occurred yet as the gripper remains open. The next action should involve moving the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896960377693176, + -0.07057980448007584, + 0.07855220139026642, + 3.0427727699279785, + -0.15463829040527344, + 0.02968454547226429 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30156102776527405, + -0.07168924808502197, + 0.09015766531229019, + 3.054623603820801, + -0.16474924981594086, + -3.907212885678746e-05 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fruit": [ + 369, + 726, + 436, + 822 + ], + "green plate": [ + 332, + 734, + 490, + 925 + ], + "microwave": [ + 272, + 9, + 921, + 519 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30674803256988525, + -0.07640491425991058, + 0.0932183489203453, + 3.082887649536133, + -0.20695438981056213, + -0.005690146703273058 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3120136559009552, + -0.08219563215970993, + 0.09755867719650269, + 3.1013150215148926, + -0.24567635357379913, + 0.008014061488211155 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, close gripper; then move back 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163236677646637, + -0.0818701684474945, + 0.09687092900276184, + 3.093580722808838, + -0.2877424359321594, + -0.0011890947353094816 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, close gripper; then move back 6 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3217674493789673, + -0.08223208039999008, + 0.10305651277303696, + 3.0995054244995117, + -0.30451175570487976, + -0.02061605453491211 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, close gripper; then move back 8 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3271625339984894, + -0.07796541601419449, + 0.10801669955253601, + 3.1071672439575195, + -0.3210994601249695, + -0.03356490284204483 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 8 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32998642325401306, + -0.07560694217681885, + 0.1084207221865654, + 3.094162702560425, + -0.3206630349159241, + -0.039255063980817795 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 4 cm, move right 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309280574321747, + -0.0746845081448555, + 0.10855115205049515, + 3.1014833450317383, + -0.32084113359451294, + -0.031080881133675575 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "approach microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 8 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 3 cm, move right 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33456140756607056, + -0.07659163326025009, + 0.10657309740781784, + 3.1203484535217285, + -0.3033190369606018, + -0.036194462329149246 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33442777395248413, + -0.07738176733255386, + 0.10655483603477478, + 3.120316505432129, + -0.2944355905056, + -0.027518169954419136 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot is positioned near the microwave with the gripper open and aligned toward the handle. No contact has been made yet, and the subtask of approaching the handle is still in progress. The next action should be to move the gripper closer to establish contact with the microwave handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3276967406272888, + -0.0816815048456192, + 0.10265623033046722, + 3.1071462631225586, + -0.3041876256465912, + 0.017728785052895546 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot's end-effector is positioned at the microwave handle, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring, and the gripper is currently in a partially closed state around the handle. The next immediate action is to fully close the gripper to secure a firm grasp on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30192673206329346, + -0.07946991920471191, + 0.09818892925977707, + 3.0899698734283447, + -0.3080310523509979, + 0.07204915583133698 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot's end-effector is positioned at the microwave handle, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring, and the gripper is currently in a partially closed state around the handle. The next immediate action is to fully close the gripper to secure a firm grasp on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28487277030944824, + -0.07832913845777512, + 0.09721739590167999, + 3.0764107704162598, + -0.2952912449836731, + 0.12374450266361237 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot's end-effector is positioned at the microwave handle, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring, and the gripper is currently in a partially closed state around the handle. The next immediate action is to fully close the gripper to secure a firm grasp on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27409619092941284, + -0.07927431911230087, + 0.09625810384750366, + 3.0887093544006348, + -0.2588343620300293, + 0.16537804901599884 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "grasp microwave handle", + "subtask_reasoning": "The robot's end-effector is positioned at the microwave handle, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring, and the gripper is currently in a partially closed state around the handle. The next immediate action is to fully close the gripper to secure a firm grasp on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, keep gripper open; then move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move left 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.251147598028183, + -0.09939971566200256, + 0.09139245748519897, + 3.103930711746216, + -0.19475889205932617, + 0.18258583545684814 + ], + "gripper_value": 0.763324499130249 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "open microwave door", + "subtask_reasoning": "The robot's end-effector is positioned at the microwave handle, having completed the approach phase. Segment-level gripper evidence indicates a closing action is occurring, and the gripper is currently in a partially closed state around the handle. The next immediate action is to fully close the gripper to secure a firm grasp on the handle before pulling." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move left 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2305825799703598, + -0.10922692716121674, + 0.09058256447315216, + 3.108212471008301, + -0.21088840067386627, + 0.2679916322231293 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "open microwave door", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector in contact with the handle, ready to pull. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move left 6 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.21548816561698914, + -0.1296526938676834, + 0.08667206019163132, + 3.0816102027893066, + -0.197130486369133, + 0.3010985553264618 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fruit": [ + 370, + 726, + 437, + 822 + ], + "green plate": [ + 332, + 731, + 490, + 926 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "open microwave door", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector in contact with the handle, ready to pull. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2194962203502655, + -0.14581598341464996, + 0.0805499330163002, + 3.043485164642334, + -0.1741175651550293, + 0.20395909249782562 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "open microwave door", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector in contact with the handle, ready to pull. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24905109405517578, + -0.1702752709388733, + 0.08074408769607544, + 3.055316209793091, + -0.18449708819389343, + 0.03696032613515854 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fruit": [ + 370, + 726, + 436, + 822 + ], + "green plate": [ + 332, + 731, + 490, + 925 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector in contact with the handle, ready to pull. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 9 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2781202793121338, + -0.18644849956035614, + 0.08332493901252747, + 3.070868730545044, + -0.18981322646141052, + -0.08483409881591797 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector in contact with the handle, ready to pull. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 11 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30442574620246887, + -0.1975947767496109, + 0.08761957287788391, + 3.0493528842926025, + -0.21947410702705383, + -0.16478052735328674 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector in contact with the handle, ready to pull. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32208308577537537, + -0.1923782378435135, + 0.08924627304077148, + 3.0649402141571045, + -0.2446787804365158, + -0.23140579462051392 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The robot has approached and grasped the microwave handle, as indicated by the gripper evidence and prior steps. The current frame shows the end-effector in contact with the handle, ready to pull. The next action is to pull the microwave door outward to open it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3354950547218323, + -0.17439784109592438, + 0.08704490214586258, + 3.086329936981201, + -0.27729228138923645, + -0.3206220865249634 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The microwave door is already open, and the robot's gripper is not in contact with the handle. The robot has completed the opening action and is now retreating from the microwave. The next step is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33945441246032715, + -0.15104298293590546, + 0.08098223805427551, + 3.0599701404571533, + -0.24998998641967773, + -0.3223973512649536 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The microwave door is already open, and the robot's gripper is not in contact with the handle. The robot has completed the opening action and is now retreating from the microwave. The next step is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3375272750854492, + -0.1346362978219986, + 0.07881348580121994, + 3.0567524433135986, + -0.20254507660865784, + -0.30008238554000854 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The microwave door is already open, and the robot's gripper is not in contact with the handle. The robot has completed the opening action and is now retreating from the microwave. The next step is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3348744511604309, + -0.111051544547081, + 0.06832630932331085, + 3.0710413455963135, + -0.16474147140979767, + -0.23295411467552185 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The microwave door is already open, and the robot's gripper is not in contact with the handle. The robot has completed the opening action and is now retreating from the microwave. The next step is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3273627460002899, + -0.07815980166196823, + 0.05653940513730049, + 3.091792583465576, + -0.17976891994476318, + -0.16934025287628174 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door by grasping the handle and pulling it outward." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave handle" + }, + { + "id": 2, + "subtask": "grasp microwave handle" + }, + { + "id": 3, + "subtask": "open microwave door" + }, + { + "id": 4, + "subtask": "release and retreat from microwave" + } + ], + "subtask_name": "release and retreat from microwave", + "subtask_reasoning": "The microwave door is already open, and the robot's gripper is not in contact with the handle. The robot has completed the opening action and is now retreating from the microwave. The next step is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000741_ecot.json b/cot/chunk-0000/episode_0000741_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..38615a22841d6ea46ef8f9f7b0c52a4d120c4d7e --- /dev/null +++ b/cot/chunk-0000/episode_0000741_ecot.json @@ -0,0 +1,1588 @@ +{ + "task_name": "episode_0000741", + "episode_json": "json/chunk-0000/episode_0000741.json", + "video_path": "videos/chunk-0000/image_0/episode_0000741.mp4", + "instruction": "Fold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000741.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.9440145492553711, + "std": 0.4088283181190491, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94401, std=0.40883, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 209, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 19, + 19, + 19, + 19 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 8 + ], + [ + 3, + 9, + 9 + ], + [ + 4, + 10, + 15 + ], + [ + 5, + 16, + 18 + ], + [ + 6, + 19, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 8, \"planning\": \"Move gripper toward bottom-right corner of cloth without grasping, preparing for fold initiation.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 9, \"end\": 9, \"planning\": \"Establish light contact with cloth at target corner to begin repositioning for folding.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 10, \"end\": 15, \"planning\": \"Gently drag the cloth from bottom-right toward top-left while maintaining light grip to guide fold trajectory.\"},\n {\"id\": 4, \"name\": \"reposition and align\", \"start\": 16, \"end\": 18, \"planning\": \"Adjust cloth position mid-fold to ensure clean diagonal alignment before final placement.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 19, \"end\": 22, \"planning\": \"Open gripper to release cloth after fold completion, then retreat upward to clear workspace.\"}\n ],\n \"global_plan\": \"Fold the cloth by dragging its bottom-right corner diagonally toward top-left using controlled contact and light grip, then release once aligned.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in segments 1 and 3 — thus 'approach' and 'nudge' used instead of grasp. Segments 4 and 6 show valid gripper closure consistent with dragging and releasing. Segment 5 (frames 16-18) inferred as repositioning based on motion continuity and lack of explicit gripper data but consistent with fold refinement phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 8, + "planning": "Move gripper toward bottom-right corner of cloth without grasping, preparing for fold initiation." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 9, + "end": 9, + "planning": "Establish light contact with cloth at target corner to begin repositioning for folding." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 10, + "end": 15, + "planning": "Gently drag the cloth from bottom-right toward top-left while maintaining light grip to guide fold trajectory." + }, + { + "id": 4, + "name": "reposition and align", + "start": 16, + "end": 18, + "planning": "Adjust cloth position mid-fold to ensure clean diagonal alignment before final placement." + }, + { + "id": 5, + "name": "release and retreat", + "start": 19, + "end": 22, + "planning": "Open gripper to release cloth after fold completion, then retreat upward to clear workspace." + } + ], + "global_plan": "Fold the cloth by dragging its bottom-right corner diagonally toward top-left using controlled contact and light grip, then release once aligned.", + "notes": "Gripper evidence confirms no meaningful closing in segments 1 and 3 — thus 'approach' and 'nudge' used instead of grasp. Segments 4 and 6 show valid gripper closure consistent with dragging and releasing. Segment 5 (frames 16-18) inferred as repositioning based on motion continuity and lack of explicit gripper data but consistent with fold refinement phase." + } + }, + "episode_goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23742353916168213, + 0.07208549231290817, + 0.05422414839267731, + -3.1110286712646484, + -0.14930160343647003, + 0.022874798625707626 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the bottom-right corner. No contact or grasp has occurred yet. The next action is to move the gripper toward the bottom-right corner of the cloth to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23469208180904388, + 0.07088690996170044, + 0.049183618277311325, + -3.1200807094573975, + -0.13098223507404327, + 0.03517851606011391 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the bottom-right corner. No contact or grasp has occurred yet. The next action is to move the gripper toward the bottom-right corner of the cloth to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2254183441400528, + 0.051041655242443085, + 0.04511852189898491, + 3.1270952224731445, + -0.14162564277648926, + 0.08233756572008133 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the bottom-right corner. No contact or grasp has occurred yet. The next action is to move the gripper toward the bottom-right corner of the cloth to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 4 cm, close gripper; then keep gripper closed; then move forward 2 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21321654319763184, + 0.03305485472083092, + 0.04458529129624367, + 3.132281541824341, + -0.13883134722709656, + 0.11619231849908829 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, ready to approach the bottom-right corner. No contact or grasp has occurred yet. The next action is to move the gripper toward the bottom-right corner of the cloth to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 4 cm, close gripper; then keep gripper closed; then move forward 4 cm, move left 3 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20129665732383728, + 0.019972946494817734, + 0.03626498207449913, + 3.1243996620178223, + -0.11791560053825378, + 0.13133293390274048 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the bottom-right corner. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly to make contact with the cloth corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move forward 8 cm, move left 8 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.19304315745830536, + 0.011615021154284477, + 0.024762244895100594, + 3.1232755184173584, + -0.11132161319255829, + 0.12035112082958221 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the bottom-right corner. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly to make contact with the cloth corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then keep gripper closed; then move forward 10 cm, move left 11 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18109987676143646, + 0.009104632772505283, + 0.014058290049433708, + 3.1116316318511963, + -0.11470531672239304, + 0.15589523315429688 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 3, + 281, + 469, + 928 + ], + "table": [ + 3, + 3, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the bottom-right corner. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly to make contact with the cloth corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 10 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.17784307897090912, + 0.006414796691387892, + 0.010679328814148903, + 3.0965750217437744, + -0.12058162689208984, + 0.14730972051620483 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the bottom-right corner. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly to make contact with the cloth corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 10 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17956703901290894, + 0.007202690001577139, + 0.0077130235731601715, + 3.09916615486145, + -0.13015124201774597, + 0.14241881668567657 + ], + "gripper_value": 0.6561112403869629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the yellow cloth, with the gripper open and hovering near the bottom-right corner. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly to make contact with the cloth corner in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move forward 10 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18120181560516357, + 0.009817913174629211, + 0.004828237928450108, + 3.1166281700134277, + -0.13664257526397705, + 0.14929981529712677 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot end-effector is in contact with the bottom-right corner of the yellow cloth. The approach phase is complete, and the gripper is positioned to initiate the fold. The next action is to nudge or drag the cloth corner diagonally toward the top-left while maintaining light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.18389864265918732, + 0.008036217652261257, + 0.005682984367012978, + -3.1378731727600098, + -0.12437287718057632, + 0.1484111100435257 + ], + "gripper_value": 0.20024193823337555 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot end-effector is in contact with the bottom-right corner of the yellow cloth. The approach phase is complete, and the gripper is positioned to initiate the fold. The next action is to nudge or drag the cloth corner diagonally toward the top-left while maintaining light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.1863410770893097, + 0.010869731195271015, + 0.008423949591815472, + -3.113807201385498, + -0.10261423885822296, + 0.1262510120868683 + ], + "gripper_value": 0.08641935139894485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot end-effector is in contact with the bottom-right corner of the yellow cloth. The approach phase is complete, and the gripper is positioned to initiate the fold. The next action is to nudge or drag the cloth corner diagonally toward the top-left while maintaining light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2009781301021576, + 0.014762439765036106, + 0.03244755044579506, + -3.065607786178589, + -0.07342026382684708, + 0.060848601162433624 + ], + "gripper_value": 0.061516307294368744 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the bottom-right corner of the yellow cloth, having completed the approach and initial nudge. The gripper shows a closing trend consistent with light grasping, and the end-effector is positioned to begin diagonal dragging toward the top-left. The next action is to initiate controlled diagonal motion while maintaining light grip to pull the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 13 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2260632961988449, + 0.03567831590771675, + 0.055001597851514816, + -3.043626546859741, + -0.05928865820169449, + -0.015528654679656029 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 3, + 318, + 488, + 804 + ], + "table": [ + 3, + 4, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the bottom-right corner of the yellow cloth, having completed the approach and initial nudge. The gripper shows a closing trend consistent with light grasping, and the end-effector is positioned to begin diagonal dragging toward the top-left. The next action is to initiate controlled diagonal motion while maintaining light grip to pull the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 11 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26078084111213684, + 0.08327849209308624, + 0.053588785231113434, + -3.0501837730407715, + -0.05888913571834564, + -0.11593076586723328 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the bottom-right corner of the yellow cloth, having completed the approach and initial nudge. The gripper shows a closing trend consistent with light grasping, and the end-effector is positioned to begin diagonal dragging toward the top-left. The next action is to initiate controlled diagonal motion while maintaining light grip to pull the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28148528933525085, + 0.1195748820900917, + 0.03537013754248619, + -3.094139337539673, + -0.05355827882885933, + -0.16908159852027893 + ], + "gripper_value": 0.05812275409698486 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 3, + 3, + 996, + 995 + ], + "yellow cloth": [ + 3, + 279, + 467, + 711 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the bottom-right corner of the yellow cloth, having completed the approach and initial nudge. The gripper shows a closing trend consistent with light grasping, and the end-effector is positioned to begin diagonal dragging toward the top-left. The next action is to initiate controlled diagonal motion while maintaining light grip to pull the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2884962856769562, + 0.14165163040161133, + 0.014858619309961796, + 3.1334922313690186, + -0.053296320140361786, + -0.17574180662631989 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition and align", + "subtask_reasoning": "The robot is in contact with the bottom-right corner of the yellow cloth, having completed the approach and initial nudge. The gripper shows a closing trend consistent with light grasping, and the end-effector is positioned to begin diagonal dragging toward the top-left. The next action is to initiate controlled diagonal motion while maintaining light grip to pull the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29378440976142883, + 0.1491706818342209, + 0.0105941416695714, + 3.114588499069214, + -0.07168743014335632, + -0.17844703793525696 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition and align", + "subtask_reasoning": "The robot is currently holding the yellow cloth, which has been partially folded. The gripper evidence indicates a successful grasp is maintained. The next action is to drag the held corner diagonally toward the top-left to complete the alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29558295011520386, + 0.15195578336715698, + 0.010416870936751366, + 3.131075859069824, + -0.08503325283527374, + -0.19096356630325317 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition and align", + "subtask_reasoning": "The robot is currently holding the yellow cloth, which has been partially folded. The gripper evidence indicates a successful grasp is maintained. The next action is to drag the held corner diagonally toward the top-left to complete the alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30070680379867554, + 0.15898720920085907, + 0.013345122337341309, + -3.111239194869995, + -0.09907769411802292, + -0.21615788340568542 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the yellow cloth, which has been partially folded. The gripper evidence indicates a successful grasp is maintained. The next action is to drag the held corner diagonally toward the top-left to complete the alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30699267983436584, + 0.17087499797344208, + 0.0159621499478817, + -3.0303444862365723, + -0.1230606734752655, + -0.2475745528936386 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded, with the bottom-right corner brought to the top-left region. The gripper is currently in contact with the folded cloth, maintaining its position. The next action is to release the cloth and retreat the gripper to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31200066208839417, + 0.17934004962444305, + 0.035015325993299484, + -2.942434310913086, + -0.17884817719459534, + -0.24383574724197388 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded, with the bottom-right corner brought to the top-left region. The gripper is currently in contact with the folded cloth, maintaining its position. The next action is to release the cloth and retreat the gripper to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30729156732559204, + 0.1777656078338623, + 0.037206295877695084, + -2.958289623260498, + -0.15678636729717255, + -0.1924002766609192 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from bottom right to top left by grasping the bottom-right corner and moving it to the top-left region, then releasing to complete the fold." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition and align" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been successfully folded, with the bottom-right corner brought to the top-left region. The gripper is currently in contact with the folded cloth, maintaining its position. The next action is to release the cloth and retreat the gripper to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000743_ecot.json b/cot/chunk-0000/episode_0000743_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e46dab273669cd463151e61efe7e01d9d25c4ed9 --- /dev/null +++ b/cot/chunk-0000/episode_0000743_ecot.json @@ -0,0 +1,1186 @@ +{ + "task_name": "episode_0000743", + "episode_json": "json/chunk-0000/episode_0000743.json", + "video_path": "videos/chunk-0000/image_0/episode_0000743.mp4", + "instruction": "Put potato in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000743.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.33611464500427246, + "std": 0.16086502373218536, + "delta_total": -0.33611464500427246, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33611, std=0.16087, total_delta=-0.33611). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 12 + ], + [ + 3, + 13, + 13 + ], + [ + 4, + 14, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the potato on the cutting board without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp potato\", \"start\": 9, \"end\": 12, \"planning\": \"Close gripper around potato and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition potato\", \"start\": 13, \"end\": 13, \"planning\": \"Lift potato slightly and adjust orientation for transfer toward pot.\"},\n {\"id\": 4, \"name\": \"drop potato into pot\", \"start\": 14, \"end\": 17, \"planning\": \"Move potato over pot and release by opening gripper or lowering until contact with pot interior.\"}\n ],\n \"global_plan\": \"Approach potato on cutting board, grasp it securely, lift and reposition toward pot, then drop it into the pot.\",\n \"notes\": \"Gripper closure only occurs in segment 2 (frames 9-12), consistent with grasp action. Segment 1 shows no gripper change — approach only. Segment 3 is a single-frame transition. Segment 4 involves motion to pot and release, supported by constant gripper value indicating maintained hold until drop.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the potato on the cutting board without closing gripper." + }, + { + "id": 2, + "name": "grasp potato", + "start": 9, + "end": 12, + "planning": "Close gripper around potato and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "lift and reposition potato", + "start": 13, + "end": 13, + "planning": "Lift potato slightly and adjust orientation for transfer toward pot." + }, + { + "id": 4, + "name": "drop potato into pot", + "start": 14, + "end": 17, + "planning": "Move potato over pot and release by opening gripper or lowering until contact with pot interior." + } + ], + "global_plan": "Approach potato on cutting board, grasp it securely, lift and reposition toward pot, then drop it into the pot.", + "notes": "Gripper closure only occurs in segment 2 (frames 9-12), consistent with grasp action. Segment 1 shows no gripper change — approach only. Segment 3 is a single-frame transition. Segment 4 involves motion to pot and release, supported by constant gripper value indicating maintained hold until drop." + } + }, + "episode_goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3607874810695648, + 0.021392466500401497, + 0.06819067150354385, + -3.106067180633545, + -0.21950018405914307, + -0.007728841155767441 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the cutting board, approaching the yellow potato. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3590894937515259, + 0.02060682326555252, + 0.05531905218958855, + -3.1127214431762695, + -0.1751929521560669, + -0.009131009690463543 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the cutting board, approaching the yellow potato. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36758559942245483, + 0.02270578406751156, + 0.053768716752529144, + -3.1144814491271973, + -0.19797684252262115, + -0.022480690851807594 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the cutting board, approaching the yellow potato. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37513408064842224, + 0.025358252227306366, + 0.04472539201378822, + -3.115291118621826, + -0.22089216113090515, + -0.05200432986021042 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 2, + 21, + 518, + 615 + ], + "toy carrot": [ + 245, + 129, + 509, + 248 + ], + "green cutting board": [ + 161, + 231, + 385, + 452 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the cutting board, approaching the yellow potato. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38530218601226807, + 0.031136825680732727, + 0.03993150219321251, + -3.1005773544311523, + -0.24517711997032166, + -0.0791051983833313 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the drawer with the metal pot visible below, while the yellow potato remains on the cutting board to the left. No grasping has occurred yet as the gripper is fully open and the subtask is strictly approaching. The robot needs to move its end-effector laterally towards the cutting board to align with the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39084771275520325, + 0.03563645854592323, + 0.03841450437903404, + -3.072930097579956, + -0.2730318605899811, + -0.10685567557811737 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the drawer with the metal pot visible below, while the yellow potato remains on the cutting board to the left. No grasping has occurred yet as the gripper is fully open and the subtask is strictly approaching. The robot needs to move its end-effector laterally towards the cutting board to align with the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3903312683105469, + 0.037269022315740585, + 0.034421905875205994, + -3.069556951522827, + -0.29088565707206726, + -0.11668332666158676 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the drawer with the metal pot visible below, while the yellow potato remains on the cutting board to the left. No grasping has occurred yet as the gripper is fully open and the subtask is strictly approaching. The robot needs to move its end-effector laterally towards the cutting board to align with the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3940509557723999, + 0.03743202984333038, + 0.03311492130160332, + -3.08902645111084, + -0.3309752345085144, + -0.10890591144561768 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the drawer with the metal pot visible below, while the yellow potato remains on the cutting board to the left. No grasping has occurred yet as the gripper is fully open and the subtask is strictly approaching. The robot needs to move its end-effector laterally towards the cutting board to align with the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.39581939578056335, + 0.034857846796512604, + 0.02215646393597126, + -3.118492364883423, + -0.34036344289779663, + -0.10859979689121246 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the drawer with the metal pot visible below, while the yellow potato remains on the cutting board to the left. No grasping has occurred yet as the gripper is fully open and the subtask is strictly approaching. The robot needs to move its end-effector laterally towards the cutting board to align with the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39979875087738037, + 0.0331072136759758, + 0.016291504725813866, + 3.1406137943267822, + -0.3418041467666626, + -0.1085101068019867 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot is positioned above the drawer with the metal pot visible below, while the yellow potato remains on the cutting board to the left. No grasping has occurred yet as the gripper is fully open and the subtask is strictly approaching. The robot needs to move its end-effector laterally towards the cutting board to align with the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4017959535121918, + 0.03168671205639839, + 0.012704099528491497, + 3.1327877044677734, + -0.34087997674942017, + -0.10686655342578888 + ], + "gripper_value": 0.8454146385192871 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow potato on the cutting board, with the gripper open and ready. The gripper signal indicates a closing motion has begun within this segment. The next action is to complete the grasp by closing the fingers around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39953523874282837, + 0.031200576573610306, + 0.011724485084414482, + 3.1212456226348877, + -0.3274015486240387, + -0.08420735597610474 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow potato on the cutting board, with the gripper open and ready. The gripper signal indicates a closing motion has begun within this segment. The next action is to complete the grasp by closing the fingers around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3922992944717407, + 0.027144886553287506, + 0.01168095413595438, + 3.1276960372924805, + -0.2745053470134735, + -0.06802636384963989 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot's end-effector is positioned directly above the yellow potato on the cutting board, with the gripper open and ready. The gripper signal indicates a closing motion has begun within this segment. The next action is to complete the grasp by closing the fingers around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3766569197177887, + 0.027778111398220062, + 0.020806068554520607, + -3.1412241458892822, + -0.20086374878883362, + -0.029286667704582214 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "lift and reposition potato", + "subtask_reasoning": "The robot has successfully grasped the yellow potato from the cutting board and is currently holding it above the open drawer containing the metal pot. Since the gripper signal indicates a stable hold without further closing, the immediate next action is to lower the potato into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35606086254119873, + 0.0269336961209774, + 0.025969505310058594, + 3.1108713150024414, + -0.17075051367282867, + 0.05347951874136925 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The robot has successfully grasped the yellow potato from the cutting board and is currently holding it above the open drawer containing the metal pot. Since the gripper signal indicates a stable hold without further closing, the immediate next action is to lower the potato into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33076056838035583, + 0.0222404096275568, + 0.006023405119776726, + 3.080446243286133, + -0.15180355310440063, + 0.15138496458530426 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 246, + 127, + 507, + 246 + ], + "green cutting board": [ + 161, + 231, + 385, + 452 + ], + "wooden countertop": [ + 2, + 21, + 510, + 612 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The robot is holding the yellow potato directly above the metal pot inside the open drawer. The gripper remains open and stable, indicating the potato has not yet been released. The next action is to drop the potato into the pot by opening the gripper or releasing the hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3207088112831116, + 0.011947743594646454, + -0.0018958046566694975, + 3.048999547958374, + -0.1999119520187378, + 0.20726749300956726 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The robot is holding the yellow potato directly above the metal pot inside the open drawer. The gripper remains open and stable, indicating the potato has not yet been released. The next action is to drop the potato into the pot by opening the gripper or releasing the hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214394748210907, + 0.0027716802433133125, + -0.00772874103859067, + 3.0052833557128906, + -0.25578033924102783, + 0.2541326880455017 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow potato from the cutting board and place it into the metal pot in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and reposition potato" + }, + { + "id": 4, + "subtask": "drop potato into pot" + } + ], + "subtask_name": "drop potato into pot", + "subtask_reasoning": "The robot is holding the yellow potato directly above the metal pot inside the open drawer. The gripper remains open and stable, indicating the potato has not yet been released. The next action is to drop the potato into the pot by opening the gripper or releasing the hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000745_ecot.json b/cot/chunk-0000/episode_0000745_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4ed677ba3564babea2e89c5a1b1d5e07766aeecc --- /dev/null +++ b/cot/chunk-0000/episode_0000745_ecot.json @@ -0,0 +1,1220 @@ +{ + "task_name": "episode_0000745", + "episode_json": "json/chunk-0000/episode_0000745.json", + "video_path": "videos/chunk-0000/image_0/episode_0000745.mp4", + "instruction": "Lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000745.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.591559112071991, + "std": 0.27469274401664734, + "delta_total": -0.3872283697128296, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59156, std=0.27469, total_delta=-0.38723). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 111, + 111, + 111, + 118 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ], + [ + 3, + 15, + 17 + ], + [ + 4, + 18, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the vertical lever while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 10, \"end\": 10, \"planning\": \"Close gripper to securely grasp the lever as confirmed by significant gripper closure and image alignment.\"},\n {\"id\": 3, \"name\": \"pull lever forward\", \"start\": 11, \"end\": 17, \"planning\": \"Maintain grip and pull the lever vertically forward using controlled motion without further gripper adjustment.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 18, \"end\": 18, \"planning\": \"Open gripper to release the lever and begin retreating from the mechanism.\"}\n ],\n \"global_plan\": \"Approach the vertical lever, grasp it firmly at frame 10, pull it forward through frames 11–17 while maintaining grip, then release and retreat at frame 18.\",\n \"notes\": \"Gripper closure is only meaningful in segment 1 (frames 0–10), specifically at frame 10; segments 2–4 show no meaningful closing, so grasp wording is restricted to frame 10 only. Motion in segments 2–3 is consistent with pulling while holding, and segment 4 shows gripper opening and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the vertical lever while keeping gripper open." + }, + { + "id": 2, + "name": "grasp lever", + "start": 10, + "end": 10, + "planning": "Close gripper to securely grasp the lever as confirmed by significant gripper closure and image alignment." + }, + { + "id": 3, + "name": "pull lever forward", + "start": 11, + "end": 17, + "planning": "Maintain grip and pull the lever vertically forward using controlled motion without further gripper adjustment." + }, + { + "id": 4, + "name": "release and retreat", + "start": 18, + "end": 18, + "planning": "Open gripper to release the lever and begin retreating from the mechanism." + } + ], + "global_plan": "Approach the vertical lever, grasp it firmly at frame 10, pull it forward through frames 11–17 while maintaining grip, then release and retreat at frame 18.", + "notes": "Gripper closure is only meaningful in segment 1 (frames 0–10), specifically at frame 10; segments 2–4 show no meaningful closing, so grasp wording is restricted to frame 10 only. Motion in segments 2–3 is consistent with pulling while holding, and segment 4 shows gripper opening and retreat." + } + }, + "episode_goal": "Grasp the faucet lever and pull it forward to the vertical position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37157270312309265, + -0.06172405183315277, + 0.07742227613925934, + -2.948105573654175, + -0.12465353310108185, + 0.003806524910032749 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move up 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3711995482444763, + -0.05923395976424217, + 0.06192200258374214, + -2.9215753078460693, + -0.12478867173194885, + 0.007444525137543678 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3755887746810913, + -0.061901580542325974, + 0.0602879598736763, + -2.900808334350586, + -0.1714712232351303, + -0.010048179887235165 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt back 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38106900453567505, + -0.06143079698085785, + 0.0643676221370697, + -2.890821695327759, + -0.19316193461418152, + -0.03035196289420128 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a distance. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt back 10 degrees, close gripper; then keep gripper closed; then move back 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3922353684902191, + -0.06276334822177887, + 0.07664306461811066, + -2.883779287338257, + -0.2298494279384613, + -0.054860398173332214 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, close gripper; then keep gripper closed; then move back 3 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4012535810470581, + -0.06388919800519943, + 0.08964129537343979, + -2.8756277561187744, + -0.2547030746936798, + -0.07655417919158936 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 207, + 352, + 824, + 943 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then keep gripper closed; then move back 4 cm, move left 1 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.40945932269096375, + -0.06613951176404953, + 0.09521566331386566, + -2.873295783996582, + -0.272188276052475, + -0.1004275232553482 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then keep gripper closed; then move back 4 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4131452739238739, + -0.06824321299791336, + 0.08946648985147476, + -2.8792760372161865, + -0.2698037624359131, + -0.11983444541692734 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then keep gripper closed; then move back 4 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4195772409439087, + -0.06796535104513168, + 0.08557845652103424, + -2.888171911239624, + -0.27243953943252563, + -0.12764021754264832 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 4 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.42158159613609314, + -0.06687327474355698, + 0.08457284420728683, + -2.8886306285858154, + -0.2736563980579376, + -0.11540723592042923 + ], + "gripper_value": 0.8454146385192871 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 4 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4205562472343445, + -0.06434185802936554, + 0.08420765399932861, + -2.8778631687164307, + -0.2721768021583557, + -0.09804381430149078 + ], + "gripper_value": 0.5393473505973816 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever, having completed the approach phase. The gripper is open and in contact or very close to the lever, but segment-level evidence shows no meaningful closing motion yet. The next action should involve initiating a firm grasp on the lever to prepare for pulling it forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4163079559803009, + -0.06243123859167099, + 0.08205047994852066, + -2.874128818511963, + -0.25697290897369385, + -0.08028832077980042 + ], + "gripper_value": 0.413944274187088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever, having completed the approach phase. The gripper is open and in contact or very close to the lever, but segment-level evidence shows no meaningful closing motion yet. The next action should involve initiating a firm grasp on the lever to prepare for pulling it forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4048544466495514, + -0.06067844107747078, + 0.08203403651714325, + -2.882687568664551, + -0.2163066565990448, + -0.06000816076993942 + ], + "gripper_value": 0.413944274187088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever, having completed the approach phase. The gripper is open and in contact or very close to the lever, but segment-level evidence shows no meaningful closing motion yet. The next action should involve initiating a firm grasp on the lever to prepare for pulling it forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3946828842163086, + -0.059039294719696045, + 0.07623407989740372, + -2.905672550201416, + -0.16898174583911896, + -0.04200445115566254 + ], + "gripper_value": 0.4130503535270691 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot end-effector is positioned near the faucet lever, having completed the approach phase. The gripper is open and in contact or very close to the lever, but segment-level evidence shows no meaningful closing motion yet. The next action should involve initiating a firm grasp on the lever to prepare for pulling it forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38529497385025024, + -0.05768439918756485, + 0.06478717923164368, + -2.9599502086639404, + -0.13683249056339264, + -0.031295012682676315 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is in contact with the faucet lever, having already approached and grasped it. The current segment shows no significant gripper closure, indicating the robot is maintaining its hold while moving the lever. The next action is to continue pulling the lever forward to reach the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37760329246520996, + -0.05685082823038101, + 0.04897274449467659, + -3.0056073665618896, + -0.12237110733985901, + -0.011492593213915825 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 352, + 825, + 939 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is in contact with the faucet lever, having already approached and grasped it. The current segment shows no significant gripper closure, indicating the robot is maintaining its hold while moving the lever. The next action is to continue pulling the lever forward to reach the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37627410888671875, + -0.056413572281599045, + 0.0429043248295784, + -3.0313053131103516, + -0.12533093988895416, + -0.005747196730226278 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is in contact with the faucet lever, having already approached and grasped it. The current segment shows no significant gripper closure, indicating the robot is maintaining its hold while moving the lever. The next action is to continue pulling the lever forward to reach the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3761647939682007, + -0.05642395839095116, + 0.04149506986141205, + -3.036409854888916, + -0.13173703849315643, + -0.005706238094717264 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is in contact with the faucet lever, having already approached and grasped it. The current segment shows no significant gripper closure, indicating the robot is maintaining its hold while moving the lever. The next action is to continue pulling the lever forward to reach the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3731718957424164, + -0.05480117350816727, + 0.036968447268009186, + -3.029916763305664, + -0.1271156519651413, + 0.0022645939607173204 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "pull lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The faucet lever has been successfully pulled to the vertical position and released. The robot's end-effector is currently positioned above the sink, having retreated from the lever. The next action is to continue retreating or remain idle as the task is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000746_ecot.json b/cot/chunk-0000/episode_0000746_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf8f23a29c40dc74e61a6c5f1132135d11d6aca --- /dev/null +++ b/cot/chunk-0000/episode_0000746_ecot.json @@ -0,0 +1,3145 @@ +{ + "task_name": "episode_0000746", + "episode_json": "json/chunk-0000/episode_0000746.json", + "video_path": "videos/chunk-0000/image_0/episode_0000746.mp4", + "instruction": "Move the cylinder from the bottom of the table to the left of the green triangle.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000746.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.5088277459144592, + "std": 0.2287379950284958, + "delta_total": 0.002661466598510742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.50883, std=0.22874, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 137, + 137, + 137, + 137, + 137, + 137, + 137, + 37 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 23 + ], + [ + 3, + 24, + 36 + ], + [ + 4, + 37, + 43 + ], + [ + 5, + 44, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cylinder\", \"start\": 0, \"end\": 2, \"planning\": \"Move the gripper toward the cylinder at the bottom of the table without closing.\"},\n {\"id\": 2, \"name\": \"grasp cylinder\", \"start\": 3, \"end\": 23, \"planning\": \"Close the gripper around the cylinder and secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport cylinder\", \"start\": 24, \"end\": 36, \"planning\": \"Lift the grasped cylinder and move it horizontally toward the target location left of the green triangle.\"},\n {\"id\": 4, \"name\": \"release cylinder\", \"start\": 37, \"end\": 43, \"planning\": \"Open the gripper to place the cylinder on the table left of the green triangle.\"},\n {\"id\": 5, \"name\": \"retreat from placement\", \"start\": 44, \"end\": 44, \"planning\": \"Move the gripper away from the placed cylinder to complete the task.\"}\n ],\n \"global_plan\": \"Approach the cylinder at the bottom of the table, grasp it securely, lift and transport it to the left of the green triangle, release it there, and retreat.\",\n \"notes\": \"Subtasks align with observed gripper closure in Segment 2 (grasp) and Segment 4 (release), and motion phases. Segment 1 and 5 show no gripper change — described as approach and retreat. Segment 3 inferred as transport based on continuity between grasp and release segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cylinder", + "start": 0, + "end": 2, + "planning": "Move the gripper toward the cylinder at the bottom of the table without closing." + }, + { + "id": 2, + "name": "grasp cylinder", + "start": 3, + "end": 23, + "planning": "Close the gripper around the cylinder and secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport cylinder", + "start": 24, + "end": 36, + "planning": "Lift the grasped cylinder and move it horizontally toward the target location left of the green triangle." + }, + { + "id": 4, + "name": "release cylinder", + "start": 37, + "end": 43, + "planning": "Open the gripper to place the cylinder on the table left of the green triangle." + }, + { + "id": 5, + "name": "retreat from placement", + "start": 44, + "end": 44, + "planning": "Move the gripper away from the placed cylinder to complete the task." + } + ], + "global_plan": "Approach the cylinder at the bottom of the table, grasp it securely, lift and transport it to the left of the green triangle, release it there, and retreat.", + "notes": "Subtasks align with observed gripper closure in Segment 2 (grasp) and Segment 4 (release), and motion phases. Segment 1 and 5 show no gripper change — described as approach and retreat. Segment 3 inferred as transport based on continuity between grasp and release segments." + } + }, + "episode_goal": "Move the cylinder from the bottom of the table to the left of the green triangle.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2822265923023224, + -0.017792239785194397, + 0.08634591847658157, + -3.122225522994995, + -0.012629914097487926, + 0.15889587998390198 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center-bottom area. No objects have been moved yet. The next action should be to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 2 cm, keep gripper open; then move back 3 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2776341438293457, + -0.017881419509649277, + 0.07737993448972702, + -3.1170239448547363, + 0.02082585170865059, + 0.1603304147720337 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2675250172615051, + -0.02408706583082676, + 0.07152628898620605, + -3.139998197555542, + 0.02178109996020794, + 0.1695508509874344 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 3 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26054733991622925, + -0.03309579938650131, + 0.06972289830446243, + 3.120485782623291, + 0.02293412946164608, + 0.15223746001720428 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2510251998901367, + -0.04064556956291199, + 0.06296028941869736, + 3.085097551345825, + 0.032945070415735245, + 0.1417023241519928 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24526739120483398, + -0.04911791533231735, + 0.0561828650534153, + 3.0641720294952393, + 0.055086567997932434, + 0.1266324371099472 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23875629901885986, + -0.05464360862970352, + 0.04063412919640541, + 3.0627975463867188, + 0.14880812168121338, + 0.0982854962348938 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 66, + 164, + 993, + 995 + ], + "white cylinder": [ + 543, + 659, + 633, + 804 + ], + "white paper": [ + 96, + 2, + 227, + 157 + ], + "red block": [ + 375, + 295, + 477, + 476 + ], + "green block": [ + 677, + 618, + 785, + 744 + ], + "yellow block": [ + 368, + 542, + 472, + 659 + ], + "blue block": [ + 671, + 429, + 799, + 569 + ], + "beige block": [ + 309, + 377, + 405, + 513 + ] + } + } + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23828911781311035, + -0.05676952376961708, + 0.040650200098752975, + 3.0741469860076904, + 0.15165190398693085, + 0.08533978462219238 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23644857108592987, + -0.05939372256398201, + 0.040839847177267075, + 3.0760581493377686, + 0.16018009185791016, + 0.08573208749294281 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23203963041305542, + -0.06256576627492905, + 0.041773051023483276, + 3.08246111869812, + 0.18204715847969055, + 0.08287970721721649 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23039302229881287, + -0.06521966308355331, + 0.04148881509900093, + 3.0887491703033447, + 0.18811658024787903, + 0.08140823990106583 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 66, + 154, + 994, + 995 + ], + "white cylinder": [ + 543, + 659, + 632, + 804 + ], + "red block": [ + 375, + 295, + 478, + 476 + ], + "green block": [ + 682, + 629, + 785, + 746 + ], + "yellow block": [ + 368, + 542, + 472, + 659 + ], + "beige block": [ + 308, + 377, + 404, + 512 + ], + "blue block": [ + 691, + 431, + 798, + 561 + ], + "white paper": [ + 95, + 2, + 227, + 157 + ] + } + } + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23019731044769287, + -0.06586834788322449, + 0.040810368955135345, + 3.0906248092651367, + 0.1857246458530426, + 0.09129684418439865 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22901803255081177, + -0.06554215401411057, + 0.039326537400484085, + 3.0914969444274902, + 0.1856802999973297, + 0.0936681479215622 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the cylinder located near the center. No objects have been moved yet. The next action is to lower the gripper toward the cylinder to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22776463627815247, + -0.06471619009971619, + 0.038247741758823395, + 3.0915305614471436, + 0.18890909850597382, + 0.09801197052001953 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22575287520885468, + -0.06268443912267685, + 0.03678233548998833, + 3.0896153450012207, + 0.1941951960325241, + 0.10876795649528503 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22503459453582764, + -0.062395643442869186, + 0.035610344260931015, + 3.0861847400665283, + 0.1963772028684616, + 0.11012275516986847 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22449879348278046, + -0.06308075785636902, + 0.03448993340134621, + 3.077223300933838, + 0.1947004348039627, + 0.10640717297792435 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22221209108829498, + -0.06025690585374832, + 0.0323803685605526, + 3.0785391330718994, + 0.20078761875629425, + 0.1190662756562233 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 5 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2213849127292633, + -0.057908374816179276, + 0.02981763333082199, + 3.0729691982269287, + 0.1982877403497696, + 0.1429644227027893 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 6 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2217831313610077, + -0.056452736258506775, + 0.02828538790345192, + 3.067828893661499, + 0.19205087423324585, + 0.15708021819591522 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22280541062355042, + -0.055712465196847916, + 0.027490241453051567, + 3.0639989376068115, + 0.1899268627166748, + 0.16485901176929474 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22251756489276886, + -0.05562339723110199, + 0.025303859263658524, + 3.067514419555664, + 0.19614262878894806, + 0.17189288139343262 + ], + "gripper_value": 0.9865638017654419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22206418216228485, + -0.05472507327795029, + 0.02253037877380848, + 3.0812060832977295, + 0.20677703619003296, + 0.18298043310642242 + ], + "gripper_value": 0.9173964858055115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2230428010225296, + -0.05483577400445938, + 0.022672655060887337, + 3.0812320709228516, + 0.20273447036743164, + 0.18931247293949127 + ], + "gripper_value": 0.6179407835006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2242279201745987, + -0.05511407181620598, + 0.02247968502342701, + 3.0780527591705322, + 0.19559498131275177, + 0.189090296626091 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22821329534053802, + -0.0550665520131588, + 0.02856074832379818, + 3.0666115283966064, + 0.16123871505260468, + 0.18084022402763367 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2489491105079651, + -0.05239703878760338, + 0.049311354756355286, + 3.078742742538452, + 0.08037298172712326, + 0.15419304370880127 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 67, + 161, + 993, + 995 + ], + "white paper": [ + 95, + 2, + 227, + 158 + ], + "red block": [ + 375, + 295, + 477, + 477 + ], + "blue block": [ + 672, + 427, + 797, + 571 + ], + "yellow block": [ + 368, + 541, + 472, + 660 + ], + "green block": [ + 677, + 616, + 786, + 745 + ], + "beige block": [ + 308, + 377, + 401, + 512 + ] + } + } + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26950836181640625, + -0.05285615846514702, + 0.0678943321108818, + 3.1036312580108643, + 0.01440059021115303, + 0.12898677587509155 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 67, + 151, + 993, + 995 + ], + "white cylinder": [ + 479, + 452, + 553, + 583 + ], + "red block": [ + 374, + 295, + 478, + 476 + ], + "white paper": [ + 95, + 2, + 227, + 158 + ], + "green block": [ + 676, + 617, + 785, + 745 + ], + "yellow block": [ + 369, + 542, + 472, + 659 + ], + "blue block": [ + 685, + 437, + 797, + 570 + ], + "beige block": [ + 309, + 380, + 400, + 512 + ] + } + } + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792827785015106, + -0.0556759312748909, + 0.06478900462388992, + 3.086811065673828, + 0.011739594861865044, + 0.1174689456820488 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, open gripper; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.280836284160614, + -0.05468975007534027, + 0.053921595215797424, + 3.072472333908081, + 0.03532322123646736, + 0.10714643448591232 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot has approached the cylinder at the bottom of the table, and the gripper is open and positioned near it. The current subtask is to grasp the cylinder, which requires closing the gripper around it. The next action should be to close the gripper to secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2812902629375458, + -0.05229011923074722, + 0.05261615663766861, + 3.071812868118286, + 0.038065653294324875, + 0.10965840518474579 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28087395429611206, + -0.055330801755189896, + 0.04342159628868103, + 3.056943655014038, + 0.058159101754426956, + 0.1108212023973465 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802127003669739, + -0.05594296008348465, + 0.03509882837533951, + 3.0568106174468994, + 0.07742515206336975, + 0.10166691988706589 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move back 3 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27902495861053467, + -0.05573996156454086, + 0.028950149193406105, + 3.0609097480773926, + 0.0947648212313652, + 0.09622044116258621 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move back 4 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27641138434410095, + -0.050533559173345566, + 0.025380419567227364, + 3.0638468265533447, + 0.1064026802778244, + 0.110779769718647 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move back 6 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778995931148529, + -0.04907062649726868, + 0.02440640702843666, + 3.0612239837646484, + 0.09999432414770126, + 0.11089661717414856 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 6 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.28004440665245056, + -0.04823154956102371, + 0.022283293306827545, + 3.0556044578552246, + 0.09567931294441223, + 0.11237820982933044 + ], + "gripper_value": 0.4985305666923523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 6 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28211459517478943, + -0.04862996190786362, + 0.021817084401845932, + 3.051316499710083, + 0.09578816592693329, + 0.10874103009700775 + ], + "gripper_value": 0.5521479845046997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.27631911635398865, + -0.04762418940663338, + 0.013317347504198551, + 3.061229944229126, + 0.14631371200084686, + 0.10374929010868073 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.275776743888855, + -0.046300917863845825, + 0.023253202438354492, + 3.063185453414917, + 0.11177247017621994, + 0.11668843775987625 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release cylinder", + "subtask_reasoning": "The robot's end-effector is positioned directly above the cylinder on the table, having completed the approach and grasp phases. The gripper is currently open and stationary, indicating the cylinder has not yet been lifted. The next action is to close the gripper to secure the cylinder before lifting and transporting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712317705154419, + -0.04381312429904938, + 0.04746413975954056, + 3.0576705932617188, + 0.019696904346346855, + 0.13380731642246246 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release cylinder", + "subtask_reasoning": "The robot's end-effector is positioned above the target location to the left of the green triangle, with the gripper fully open (value ~1.0), indicating the cylinder has been successfully released on the table. The subtask of releasing the object is complete, and the next logical step is to retreat or move the arm away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 37, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.26390382647514343, + -0.041908279061317444, + 0.07198315858840942, + 3.0675501823425293, + -0.0496671088039875, + 0.1400575041770935 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release cylinder", + "subtask_reasoning": "The robot's end-effector is positioned above the target location to the left of the green triangle, with the gripper fully open (value ~1.0), indicating the cylinder has been successfully released on the table. The subtask of releasing the object is complete, and the next logical step is to retreat or move the arm away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2535415589809418, + -0.03853375464677811, + 0.09117889404296875, + 3.083718776702881, + -0.0958637148141861, + 0.1351502388715744 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 66, + 151, + 993, + 995 + ], + "red block": [ + 375, + 296, + 477, + 476 + ], + "yellow block": [ + 369, + 541, + 472, + 659 + ], + "green block": [ + 678, + 617, + 785, + 745 + ], + "white paper": [ + 95, + 2, + 227, + 158 + ], + "beige block": [ + 308, + 379, + 402, + 513 + ], + "blue block": [ + 669, + 439, + 796, + 569 + ] + } + } + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release cylinder", + "subtask_reasoning": "The robot's end-effector is positioned above the target location to the left of the green triangle, with the gripper fully open (value ~1.0), indicating the cylinder has been successfully released on the table. The subtask of releasing the object is complete, and the next logical step is to retreat or move the arm away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24044552445411682, + -0.038495443761348724, + 0.10209864377975464, + 3.125988721847534, + -0.08826830983161926, + 0.12847141921520233 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "release cylinder", + "subtask_reasoning": "The robot's end-effector is positioned above the target location to the left of the green triangle, with the gripper fully open (value ~1.0), indicating the cylinder has been successfully released on the table. The subtask of releasing the object is complete, and the next logical step is to retreat or move the arm away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 37, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.22656592726707458, + -0.035474084317684174, + 0.10861716419458389, + -3.1346583366394043, + -0.0636293888092041, + 0.13784460723400116 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cylinder from the bottom of the table to the left of the green triangle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "grasp cylinder" + }, + { + "id": 3, + "subtask": "lift and transport cylinder" + }, + { + "id": 4, + "subtask": "release cylinder" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The cylinder has been successfully placed to the left of the green triangle, and the gripper is open and clear of the object. The robot is in a stable position post-placement, with no further manipulation required. The next action is to retreat the arm to a safe distance or home position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 44, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000747_ecot.json b/cot/chunk-0000/episode_0000747_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff18458ff056ae5d7a072e844f387218b543108 --- /dev/null +++ b/cot/chunk-0000/episode_0000747_ecot.json @@ -0,0 +1,2343 @@ +{ + "task_name": "episode_0000747", + "episode_json": "json/chunk-0000/episode_0000747.json", + "video_path": "videos/chunk-0000/image_0/episode_0000747.mp4", + "instruction": "Pick up the potato and move it right towards the table's edge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000747.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.7599566578865051, + "std": 0.3492855727672577, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.75996, std=0.34929, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 214, + 214, + 214, + 214, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 28, + 28, + 28, + 28, + 28 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 13 + ], + [ + 4, + 14, + 17 + ], + [ + 5, + 18, + 27 + ], + [ + 6, + 28, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector from initial position toward the potato on the table.\"},\n {\"id\": 2, \"name\": \"close gripper on potato\", \"start\": 4, \"end\": 13, \"planning\": \"Position gripper around potato and begin closing to secure contact.\"},\n {\"id\": 3, \"name\": \"secure grasp and lift\", \"start\": 14, \"end\": 17, \"planning\": \"Complete gripper closure and lift potato slightly off the table surface.\"},\n {\"id\": 4, \"name\": \"transport potato rightward\", \"start\": 18, \"end\": 27, \"planning\": \"Carry the grasped potato horizontally toward the right edge of the table.\"},\n {\"id\": 5, \"name\": \"lower and release potato\", \"start\": 28, \"end\": 32, \"planning\": \"Descend with potato, open gripper to release it near the table’s right edge.\"}\n ],\n \"global_plan\": \"Approach the potato, grasp it securely, lift and transport it rightward across the table, then lower and release it near the edge.\",\n \"notes\": \"Subtasks align with observed gripper closure (segments 3–5) and motion phases; segment 1 is approach only, segment 6 confirms release via gripper opening and descent.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 3, + "planning": "Move the end-effector from initial position toward the potato on the table." + }, + { + "id": 2, + "name": "close gripper on potato", + "start": 4, + "end": 13, + "planning": "Position gripper around potato and begin closing to secure contact." + }, + { + "id": 3, + "name": "secure grasp and lift", + "start": 14, + "end": 17, + "planning": "Complete gripper closure and lift potato slightly off the table surface." + }, + { + "id": 4, + "name": "transport potato rightward", + "start": 18, + "end": 27, + "planning": "Carry the grasped potato horizontally toward the right edge of the table." + }, + { + "id": 5, + "name": "lower and release potato", + "start": 28, + "end": 32, + "planning": "Descend with potato, open gripper to release it near the table’s right edge." + } + ], + "global_plan": "Approach the potato, grasp it securely, lift and transport it rightward across the table, then lower and release it near the edge.", + "notes": "Subtasks align with observed gripper closure (segments 3–5) and motion phases; segment 1 is approach only, segment 6 confirms release via gripper opening and descent." + } + }, + "episode_goal": "Pick up the potato and move it right towards the table's edge.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4300706386566162, + -0.017808832228183746, + 0.09658697247505188, + 2.83586049079895, + 0.02927466854453087, + 1.7449835538864136 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 9 cm, move left 11 cm, move down 1 cm, tilt back 20 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4251110255718231, + -0.016487037762999535, + 0.07604910433292389, + 2.8861584663391113, + 0.017266714945435524, + 1.7568747997283936 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 9 cm, move left 12 cm, move down 2 cm, tilt back 20 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3999057114124298, + 0.0032918048091232777, + 0.050724197179079056, + 2.9476375579833984, + -0.016839655116200447, + 1.841375708580017 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 9 cm, move left 12 cm, move down 3 cm, tilt back 30 degrees, rotate clockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38841262459754944, + 0.03128993883728981, + 0.05930114537477493, + 2.924461603164673, + -0.002609535586088896, + 1.955899715423584 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 9 cm, move left 12 cm, move down 3 cm, tilt back 30 degrees, rotate clockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36713486909866333, + 0.06532157212495804, + 0.06083982437849045, + 2.9385507106781006, + 0.014700135216116905, + 2.1311159133911133 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 12 cm, move down 3 cm, tilt back 30 degrees, rotate clockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428027629852295, + 0.10522545874118805, + 0.05685191601514816, + 2.9104888439178467, + 0.010796543210744858, + 2.3110995292663574 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 200, + 137, + 381, + 313 + ], + "blue cloth": [ + 331, + 230, + 579, + 427 + ], + "brown egg timer": [ + 96, + 346, + 219, + 493 + ], + "wooden countertop": [ + 7, + 159, + 925, + 963 + ], + "yellow can": [ + 776, + 126, + 926, + 334 + ], + "yellow knife": [ + 558, + 297, + 831, + 422 + ], + "red can": [ + 657, + 30, + 804, + 284 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 3 cm, tilt back 20 degrees, rotate clockwise 30 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3253529965877533, + 0.12847739458084106, + 0.06214281544089317, + 2.871279239654541, + -0.01891290210187435, + 2.430636405944824 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30552199482917786, + 0.15601366758346558, + 0.061459388583898544, + 2.894294023513794, + -0.04009110480546951, + 2.588219404220581 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot is positioned above the table with the potato visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 3 cm, tilt back 20 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29031234979629517, + 0.1653652936220169, + 0.05794732645153999, + 2.9253194332122803, + -0.053164590150117874, + 2.6683764457702637 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 246, + 133, + 425, + 309 + ], + "blue cloth": [ + 333, + 219, + 578, + 426 + ], + "brown egg timer": [ + 98, + 348, + 218, + 493 + ], + "wooden countertop": [ + 7, + 150, + 925, + 961 + ], + "yellow can": [ + 776, + 126, + 927, + 334 + ], + "yellow knife": [ + 559, + 297, + 832, + 422 + ], + "toy microwave": [ + 286, + 2, + 687, + 238 + ], + "red can": [ + 657, + 30, + 804, + 285 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot has approached the potato and is currently positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the potato. The next action should be to initiate the closing of the gripper to make contact with and hold the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt back 20 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789720892906189, + 0.1755983978509903, + 0.06102810427546501, + 2.924769401550293, + -0.12807521224021912, + 2.7458958625793457 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot has approached the potato and is currently positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the potato. The next action should be to initiate the closing of the gripper to make contact with and hold the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move forward 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27499765157699585, + 0.17806431651115417, + 0.048681654036045074, + 2.965430736541748, + -0.1980222910642624, + 2.7869129180908203 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot has approached the potato and is currently positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the potato. The next action should be to initiate the closing of the gripper to make contact with and hold the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, close gripper; then move forward 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 9 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27365145087242126, + 0.18409830331802368, + 0.038243625313043594, + 2.9566171169281006, + -0.28859081864356995, + 2.8393752574920654 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot has approached the potato and is currently positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the potato. The next action should be to initiate the closing of the gripper to make contact with and hold the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 13 cm, move up 3 cm, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783578038215637, + 0.18496014177799225, + 0.031991928815841675, + 2.961721658706665, + -0.32262122631073, + 2.856283664703369 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot has approached the potato and is currently positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the potato. The next action should be to initiate the closing of the gripper to make contact with and hold the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 17 cm, move up 1 cm, tilt forward 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27995559573173523, + 0.18511134386062622, + 0.03179798647761345, + 2.956026315689087, + -0.310909241437912, + 2.8580050468444824 + ], + "gripper_value": 0.6500836610794067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "close gripper on potato", + "subtask_reasoning": "The robot has approached the potato and is currently positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the potato. The next action should be to initiate the closing of the gripper to make contact with and hold the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 19 cm, tilt forward 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.280337393283844, + 0.18532271683216095, + 0.03040415607392788, + 2.9541919231414795, + -0.3070193827152252, + 2.8453731536865234 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "secure grasp and lift", + "subtask_reasoning": "The robot has approached the potato and is currently positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the potato. The next action should be to initiate the closing of the gripper to make contact with and hold the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 22 cm, move down 1 cm, tilt forward 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2818518877029419, + 0.18161778151988983, + 0.0377630814909935, + 2.945957899093628, + -0.2596612572669983, + 2.8140785694122314 + ], + "gripper_value": 0.3026532232761383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "secure grasp and lift", + "subtask_reasoning": "The robot has approached the potato and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the potato, preparing to lift. The most likely next action is to lift the potato slightly to confirm a secure grasp before moving it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 23 cm, move down 1 cm, tilt forward 20 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843489944934845, + 0.17426051199436188, + 0.04854186996817589, + 2.899880886077881, + -0.22560228407382965, + 2.7430975437164307 + ], + "gripper_value": 0.26031553745269775 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "secure grasp and lift", + "subtask_reasoning": "The robot has approached the potato and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the potato, preparing to lift. The most likely next action is to lift the potato slightly to confirm a secure grasp before moving it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 24 cm, move down 3 cm, tilt forward 20 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930019497871399, + 0.1676345318555832, + 0.059794120490550995, + 2.8836677074432373, + -0.18285414576530457, + 2.6895415782928467 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "secure grasp and lift", + "subtask_reasoning": "The robot has approached the potato and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the potato, preparing to lift. The most likely next action is to lift the potato slightly to confirm a secure grasp before moving it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move back 6 cm, move right 25 cm, move down 4 cm, tilt forward 20 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30379578471183777, + 0.1483416110277176, + 0.07529459148645401, + 2.8761420249938965, + -0.12092118710279465, + 2.604285717010498 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot has approached the potato and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the potato, preparing to lift. The most likely next action is to lift the potato slightly to confirm a secure grasp before moving it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 25 cm, move down 5 cm, tilt forward 20 degrees, rotate counterclockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31617632508277893, + 0.09788484126329422, + 0.09126061946153641, + 2.9014475345611572, + -0.01829647459089756, + 2.4338114261627197 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot has approached the potato and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the potato, preparing to lift. The most likely next action is to lift the potato slightly to confirm a secure grasp before moving it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 20 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3158884644508362, + 0.058195240795612335, + 0.10310043394565582, + 2.9477956295013428, + 0.0576840415596962, + 2.334047317504883 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot has approached the potato and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the potato, preparing to lift. The most likely next action is to lift the potato slightly to confirm a secure grasp before moving it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 16 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30866944789886475, + 0.013667691498994827, + 0.1037178710103035, + 2.9686119556427, + 0.0773879811167717, + 2.2026896476745605 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot has approached the potato and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The current situation shows the gripper in contact with the potato, preparing to lift. The most likely next action is to lift the potato slightly to confirm a secure grasp before moving it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 11 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2912324070930481, + -0.020957492291927338, + 0.08615358173847198, + 2.9996981620788574, + 0.061617713421583176, + 2.1123650074005127 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 7, + 158, + 927, + 955 + ], + "metal bowl": [ + 201, + 134, + 412, + 313 + ], + "yellow can": [ + 775, + 126, + 926, + 335 + ], + "blue cloth": [ + 331, + 218, + 512, + 407 + ], + "brown egg timer": [ + 437, + 370, + 568, + 517 + ], + "yellow knife": [ + 579, + 296, + 832, + 423 + ], + "red can": [ + 658, + 30, + 804, + 283 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27497464418411255, + -0.045924216508865356, + 0.07698467373847961, + 2.992795467376709, + 0.07448053359985352, + 2.046262741088867 + ], + "gripper_value": 0.25202175974845886 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26433229446411133, + -0.06725628674030304, + 0.06880560517311096, + 3.002197027206421, + 0.08152228593826294, + 1.9757176637649536 + ], + "gripper_value": 0.25133779644966125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25593966245651245, + -0.0805877298116684, + 0.06140585616230965, + 3.023606300354004, + 0.0859372690320015, + 1.9274650812149048 + ], + "gripper_value": 0.25133779644966125 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24611960351467133, + -0.09370018541812897, + 0.04270065203309059, + 3.0710604190826416, + 0.051769472658634186, + 1.8629778623580933 + ], + "gripper_value": 0.2499733716249466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24389103055000305, + -0.09704002737998962, + 0.03434319049119949, + 3.0870258808135986, + 0.03472575172781944, + 1.8391910791397095 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "transport potato rightward", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24400821328163147, + -0.10007907450199127, + 0.029078517109155655, + 3.117898464202881, + 0.032568540424108505, + 1.8258662223815918 + ], + "gripper_value": 0.608914315700531 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "lower and release potato", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24261143803596497, + -0.09967067837715149, + 0.029036875814199448, + 3.127305746078491, + 0.029875732958316803, + 1.8275822401046753 + ], + "gripper_value": 0.9157527089118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "lower and release potato", + "subtask_reasoning": "The robot is currently holding the potato and moving it rightward across the table surface. The gripper remains closed with minimal variation, confirming a secure grasp. The next action is to continue transporting the potato toward the table's edge while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24589265882968903, + -0.0944124162197113, + 0.04249224439263344, + 3.098912000656128, + 0.04531487822532654, + 1.8611195087432861 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "lower and release potato", + "subtask_reasoning": "The robot arm is positioned over the table with the gripper open and in contact with the potato, indicating the release phase. The potato has been transported to the target area near the table's edge. The next action is to ensure the potato is fully released and the gripper moves away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514209747314453, + -0.09386864304542542, + 0.06474001705646515, + 3.085939884185791, + 0.09328781813383102, + 1.8779751062393188 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "lower and release potato", + "subtask_reasoning": "The robot arm is positioned over the table with the gripper open and in contact with the potato, indicating the release phase. The potato has been transported to the target area near the table's edge. The next action is to ensure the potato is fully released and the gripper moves away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534410059452057, + -0.08806967735290527, + 0.09969543665647507, + 3.0218052864074707, + 0.14579403400421143, + 1.8777496814727783 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 201, + 143, + 425, + 314 + ], + "blue cloth": [ + 332, + 218, + 560, + 426 + ], + "yellow knife": [ + 707, + 328, + 832, + 423 + ], + "yellow can": [ + 773, + 125, + 926, + 335 + ], + "wooden countertop": [ + 7, + 156, + 931, + 961 + ], + "toy microwave": [ + 292, + 4, + 622, + 239 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato and move it right towards the table's edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "close gripper on potato" + }, + { + "id": 3, + "subtask": "secure grasp and lift" + }, + { + "id": 4, + "subtask": "transport potato rightward" + }, + { + "id": 5, + "subtask": "lower and release potato" + } + ], + "subtask_name": "lower and release potato", + "subtask_reasoning": "The robot arm is positioned over the table with the gripper open and in contact with the potato, indicating the release phase. The potato has been transported to the target area near the table's edge. The next action is to ensure the potato is fully released and the gripper moves away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000749_ecot.json b/cot/chunk-0000/episode_0000749_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..db0389fcfc5e7c631e9b9f79aabbbc87748deae9 --- /dev/null +++ b/cot/chunk-0000/episode_0000749_ecot.json @@ -0,0 +1,2023 @@ +{ + "task_name": "episode_0000749", + "episode_json": "json/chunk-0000/episode_0000749.json", + "video_path": "videos/chunk-0000/image_0/episode_0000749.mp4", + "instruction": "Fold the cloth from the bottom to the top.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000749.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9326834082603455, + "std": 0.3780094385147095, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93268, std=0.37801, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 215, + 215, + 224, + 224, + 224, + 224, + 224, + 224 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 14 + ], + [ + 3, + 15, + 21 + ], + [ + 4, + 22, + 23 + ], + [ + 5, + 24, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth bottom edge\", \"start\": 0, \"end\": 4, \"planning\": \"Move gripper toward the bottom edge of the yellow cloth without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp and drag bottom edge upward\", \"start\": 5, \"end\": 14, \"planning\": \"Close gripper to grasp the bottom edge of the cloth and drag it upward toward the top, initiating the fold.\"},\n {\"id\": 3, \"name\": \"reposition gripper above folded cloth\", \"start\": 15, \"end\": 21, \"planning\": \"Lift and reposition gripper above the partially folded cloth to prepare for final adjustment.\"},\n {\"id\": 4, \"name\": \"press and secure fold\", \"start\": 22, \"end\": 23, \"planning\": \"Lower gripper to press down on the folded cloth, ensuring the fold is flat and secure.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 24, \"end\": 29, \"planning\": \"Open gripper to release the cloth and retreat upward, completing the folding task.\"}\n ],\n \"global_plan\": \"Fold the yellow cloth by grasping its bottom edge, dragging it upward to meet the top, then pressing and releasing to finalize the fold.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closure and motion consistent with grasping and dragging. Segments 4 and 5 show gripper opening/closing cycles consistent with pressing and releasing. Frame coverage is contiguous and complete from 0 to 29.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth bottom edge", + "start": 0, + "end": 4, + "planning": "Move gripper toward the bottom edge of the yellow cloth without closing, preparing for contact." + }, + { + "id": 2, + "name": "grasp and drag bottom edge upward", + "start": 5, + "end": 14, + "planning": "Close gripper to grasp the bottom edge of the cloth and drag it upward toward the top, initiating the fold." + }, + { + "id": 3, + "name": "reposition gripper above folded cloth", + "start": 15, + "end": 21, + "planning": "Lift and reposition gripper above the partially folded cloth to prepare for final adjustment." + }, + { + "id": 4, + "name": "press and secure fold", + "start": 22, + "end": 23, + "planning": "Lower gripper to press down on the folded cloth, ensuring the fold is flat and secure." + }, + { + "id": 5, + "name": "release and retreat", + "start": 24, + "end": 29, + "planning": "Open gripper to release the cloth and retreat upward, completing the folding task." + } + ], + "global_plan": "Fold the yellow cloth by grasping its bottom edge, dragging it upward to meet the top, then pressing and releasing to finalize the fold.", + "notes": "Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closure and motion consistent with grasping and dragging. Segments 4 and 5 show gripper opening/closing cycles consistent with pressing and releasing. Frame coverage is contiguous and complete from 0 to 29." + } + }, + "episode_goal": "Fold the yellow cloth from the bottom edge to the top edge.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3730373680591583, + 0.03253999352455139, + 0.07313725352287292, + -2.995633125305176, + -0.1639987826347351, + -0.22563610970973969 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 3 cm, rotate clockwise 20 degrees, keep gripper open; then move back 6 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36784929037094116, + 0.03268797695636749, + 0.060213472694158554, + -3.0047450065612793, + -0.12589430809020996, + -0.21819256246089935 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 3 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457918167114258, + 0.03432023525238037, + 0.05571092665195465, + -2.9989728927612305, + -0.1115102767944336, + -0.1652018278837204 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31798216700553894, + 0.04204964637756348, + 0.07220380753278732, + -2.9853949546813965, + -0.14563670754432678, + -0.10095924884080887 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27202385663986206, + 0.046389877796173096, + 0.08505064994096756, + -2.9954254627227783, + -0.17292028665542603, + 0.023463476449251175 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2365378439426422, + 0.05973679944872856, + 0.07416737079620361, + -3.014394521713257, + -0.18201713263988495, + 0.11335248500108719 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 186, + 300, + 839, + 864 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21143314242362976, + 0.07042019814252853, + 0.06135757267475128, + -3.034850835800171, + -0.17910146713256836, + 0.17457592487335205 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19051483273506165, + 0.0676843523979187, + 0.047190435230731964, + -3.0567567348480225, + -0.1698736548423767, + 0.21737216413021088 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, close gripper; then move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.18393725156784058, + 0.06279033422470093, + 0.03519909083843231, + -3.0785696506500244, + -0.15485261380672455, + 0.22429226338863373 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, approaching the bottom edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for dragging it upward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.17719332873821259, + 0.06729011237621307, + 0.02952132746577263, + -3.043025255203247, + -0.12889467179775238, + 0.2536051273345947 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 5 cm, move right 2 cm, move up 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.17564833164215088, + 0.06847817450761795, + 0.018136367201805115, + -3.026319980621338, + -0.07858883589506149, + 0.278456449508667 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 9 cm, move right 4 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.1823689192533493, + 0.0710441917181015, + 0.011211775243282318, + -3.024094820022583, + -0.05010863393545151, + 0.2820003032684326 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move forward 13 cm, move right 5 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1883021593093872, + 0.07334905862808228, + 0.004765219986438751, + -3.0293829441070557, + -0.054464809596538544, + 0.27634668350219727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 15 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19334550201892853, + 0.07678565382957458, + 0.0008197716088034213, + -3.057905673980713, + -0.07985410839319229, + 0.2880924344062805 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 15 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19976356625556946, + 0.0760057270526886, + -0.001363035524263978, + -3.0818333625793457, + -0.09548996388912201, + 0.2816639542579651 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag bottom edge upward", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 15 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19911101460456848, + 0.07576309144496918, + -0.0015051322989165783, + -3.0813887119293213, + -0.09511862695217133, + 0.2754253149032593 + ], + "gripper_value": 0.438394159078598 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper above folded cloth", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.1900680810213089, + 0.0751054510474205, + 0.0052448539063334465, + -3.047314167022705, + -0.04798705503344536, + 0.2899332642555237 + ], + "gripper_value": 0.2631158232688904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper above folded cloth", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 7 cm, move up 6 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.19645440578460693, + 0.07374110817909241, + 0.03533592447638512, + -2.9818012714385986, + -0.06256221979856491, + 0.2892534136772156 + ], + "gripper_value": 0.13900397717952728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper above folded cloth", + "subtask_reasoning": "The robot has approached the bottom edge of the yellow cloth and is now in contact with it. The gripper is open, indicating no grasp yet, but motion suggests preparation to drag upward. Next action: close gripper to secure the bottom edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 6 cm, move up 3 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21423523128032684, + 0.07165605574846268, + 0.06095026433467865, + -2.923495054244995, + -0.060910485684871674, + 0.25452107191085815 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper above folded cloth", + "subtask_reasoning": "The yellow cloth has been folded by dragging the bottom edge to the top, and the gripper is currently holding the folded edge. The gripper is positioned slightly above the cloth surface, indicating a repositioning phase. The next likely action is to release the cloth or adjust grip to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2462904304265976, + 0.06051000580191612, + 0.08028426021337509, + -2.9075984954833984, + -0.08988504856824875, + 0.19406136870384216 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 287, + 312, + 808, + 696 + ], + "table": [ + 4, + 4, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper above folded cloth", + "subtask_reasoning": "The yellow cloth has been folded by dragging the bottom edge to the top, and the gripper is currently holding the folded edge. The gripper is positioned slightly above the cloth surface, indicating a repositioning phase. The next likely action is to release the cloth or adjust grip to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28642672300338745, + 0.040021441876888275, + 0.08479276299476624, + -2.910402536392212, + -0.07751105725765228, + 0.11367210745811462 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 271, + 311, + 810, + 697 + ], + "table": [ + 4, + 4, + 995, + 995 + ], + "wires": [ + 2, + 10, + 238, + 131 + ] + } + } + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper above folded cloth", + "subtask_reasoning": "The yellow cloth has been folded by dragging the bottom edge to the top, and the gripper is currently holding the folded edge. The gripper is positioned slightly above the cloth surface, indicating a repositioning phase. The next likely action is to release the cloth or adjust grip to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32471972703933716, + 0.021608419716358185, + 0.07825681567192078, + -2.930433988571167, + -0.037169840186834335, + 0.029737325385212898 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper above folded cloth", + "subtask_reasoning": "The yellow cloth has been folded by dragging the bottom edge to the top, and the gripper is currently holding the folded edge. The gripper is positioned slightly above the cloth surface, indicating a repositioning phase. The next likely action is to release the cloth or adjust grip to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482273519039154, + 0.00931940320879221, + 0.06599083542823792, + -2.9680299758911133, + -0.022811342030763626, + -0.028810666874051094 + ], + "gripper_value": 0.10355531424283981 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and secure fold", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top, and the gripper is currently pressing down on the folded section. The segment-level gripper evidence supports a grasp/hold action, indicating the robot is securing the fold. The next action is to maintain pressure briefly before releasing to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3582209050655365, + 0.0034731929190456867, + 0.04880649968981743, + -3.0015029907226562, + -0.004073302261531353, + -0.050506286323070526 + ], + "gripper_value": 0.2810206115245819 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "press and secure fold", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top, and the gripper is currently pressing down on the folded section. The segment-level gripper evidence supports a grasp/hold action, indicating the robot is securing the fold. The next action is to maintain pressure briefly before releasing to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3620966970920563, + 0.002142583020031452, + 0.04729507118463516, + -3.0085299015045166, + -0.009206258691847324, + -0.06586967408657074 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top, and the gripper is currently pressing down on the folded section. The segment-level gripper evidence supports a grasp/hold action, indicating the robot is securing the fold. The next action is to maintain pressure briefly before releasing to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36464786529541016, + 0.0009747821022756398, + 0.047210779041051865, + -3.0145506858825684, + -0.024232933297753334, + -0.07873019576072693 + ], + "gripper_value": 0.8713903427124023 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top, and the gripper is currently pressing down on the folded section. The segment-level gripper evidence supports a grasp/hold action, indicating the robot is securing the fold. The next action is to maintain pressure briefly before releasing to finalize the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3663018047809601, + -0.0018526226049289107, + 0.0449758842587471, + -3.0137181282043457, + -0.04327848553657532, + -0.08404985070228577 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot should now retreat upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691030442714691, + -0.0056335339322686195, + 0.050841256976127625, + -3.02085018157959, + -0.09364037960767746, + -0.09219789505004883 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot should now retreat upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.37175849080085754, + -0.014065457507967949, + 0.06605923175811768, + -3.016195297241211, + -0.15457122027873993, + -0.10040071606636047 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot should now retreat upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.37442976236343384, + -0.02102779410779476, + 0.0697801262140274, + -3.011256217956543, + -0.17833659052848816, + -0.11898300051689148 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the yellow cloth from the bottom edge to the top edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp and drag bottom edge upward" + }, + { + "id": 3, + "subtask": "reposition gripper above folded cloth" + }, + { + "id": 4, + "subtask": "press and secure fold" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cloth has been folded with the bottom edge brought to the top. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The robot should now retreat upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000750_ecot.json b/cot/chunk-0000/episode_0000750_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d95834f0dc62463bcb0f6f99c97cae071e427a00 --- /dev/null +++ b/cot/chunk-0000/episode_0000750_ecot.json @@ -0,0 +1,2166 @@ +{ + "task_name": "episode_0000750", + "episode_json": "json/chunk-0000/episode_0000750.json", + "video_path": "videos/chunk-0000/image_0/episode_0000750.mp4", + "instruction": "Fold the cloth from bottom left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000750.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.9441127181053162, + "std": 0.40885651111602783, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94411, std=0.40886, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 212, + 212, + 212, + 212, + 312, + 312, + 312, + 323, + 423, + 423, + 423, + 423, + 423, + 423, + 423, + 423 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 11 + ], + [ + 3, + 12, + 15 + ], + [ + 4, + 16, + 19 + ], + [ + 5, + 20, + 22 + ], + [ + 6, + 23, + 23 + ], + [ + 7, + 24, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottom left corner\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper toward the bottom left corner of the cloth without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"reposition near fold line\", \"start\": 7, \"end\": 11, \"planning\": \"Adjust gripper position laterally and vertically to align with the intended fold axis, maintaining open gripper state.\"},\n {\"id\": 3, \"name\": \"grasp and initiate fold\", \"start\": 12, \"end\": 15, \"planning\": \"Close gripper to grasp the bottom left corner and begin lifting it upward and rightward to start folding the cloth.\"},\n {\"id\": 4, \"name\": \"complete fold motion\", \"start\": 16, \"end\": 22, \"planning\": \"Continue moving the grasped corner across the cloth to the right side, completing the fold while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 23, \"end\": 31, \"planning\": \"Open gripper to release the folded cloth and retreat upward to final resting position, confirming fold completion.\"}\n ],\n \"global_plan\": \"Fold the orange cloth by grasping its bottom left corner, lifting and dragging it diagonally to the right side, then releasing to complete the fold.\",\n \"notes\": \"Subtask boundaries respect segment spans and gripper evidence: no grasp before frame 12 (gripper closed), release after frame 22 (gripper opens). Frame 23 is merged into final retreat phase for continuity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottom left corner", + "start": 0, + "end": 6, + "planning": "Move gripper toward the bottom left corner of the cloth without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "reposition near fold line", + "start": 7, + "end": 11, + "planning": "Adjust gripper position laterally and vertically to align with the intended fold axis, maintaining open gripper state." + }, + { + "id": 3, + "name": "grasp and initiate fold", + "start": 12, + "end": 15, + "planning": "Close gripper to grasp the bottom left corner and begin lifting it upward and rightward to start folding the cloth." + }, + { + "id": 4, + "name": "complete fold motion", + "start": 16, + "end": 22, + "planning": "Continue moving the grasped corner across the cloth to the right side, completing the fold while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 23, + "end": 31, + "planning": "Open gripper to release the folded cloth and retreat upward to final resting position, confirming fold completion." + } + ], + "global_plan": "Fold the orange cloth by grasping its bottom left corner, lifting and dragging it diagonally to the right side, then releasing to complete the fold.", + "notes": "Subtask boundaries respect segment spans and gripper evidence: no grasp before frame 12 (gripper closed), release after frame 22 (gripper opens). Frame 23 is merged into final retreat phase for continuity." + } + }, + "episode_goal": "Fold the cloth from bottom left to right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34338879585266113, + 0.030431287363171577, + 0.09600766003131866, + -2.989572525024414, + -0.26665371656417847, + -0.17001134157180786 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, approaching the bottom left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 13 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415432572364807, + 0.030546242371201515, + 0.08735395967960358, + -2.995684862136841, + -0.24027763307094574, + -0.16311044991016388 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, approaching the bottom left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 13 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32629677653312683, + 0.04022575542330742, + 0.08228031545877457, + -2.981832265853882, + -0.1929417997598648, + -0.09805487841367722 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, approaching the bottom left corner. No contact or grasping has occurred yet. The next action is to move the gripper closer to the bottom left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 12 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100433945655823, + 0.0645795613527298, + 0.0946335569024086, + -2.9544732570648193, + -0.22977018356323242, + -0.001705179107375443 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom left corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 9 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815820872783661, + 0.09920543432235718, + 0.09688177704811096, + -2.946747303009033, + -0.2512737810611725, + 0.1071774810552597 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom left corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24496741592884064, + 0.1286647617816925, + 0.07858018577098846, + -2.971158981323242, + -0.23947355151176453, + 0.21914994716644287 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom left corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21599096059799194, + 0.14661581814289093, + 0.06183018907904625, + -2.96046781539917, + -0.2508622407913208, + 0.311011403799057 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 65, + 219, + 737, + 866 + ], + "table": [ + 4, + 3, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach bottom left corner", + "subtask_reasoning": "The robot is positioned above the orange cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom left corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2078215330839157, + 0.155806303024292, + 0.051789283752441406, + -2.9573001861572266, + -0.25600531697273254, + 0.3602801561355591 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition near fold line", + "subtask_reasoning": "The robot is positioned above the orange cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom left corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19886168837547302, + 0.16559407114982605, + 0.03376998007297516, + -2.9686129093170166, + -0.19579309225082397, + 0.3705814778804779 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition near fold line", + "subtask_reasoning": "The robot is positioned above the orange cloth on a white table, with the gripper open and no contact made yet. The subtask to approach the bottom left corner is in progress, with motion observed but no grasping action initiated. The next step is to continue moving the gripper toward the bottom left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 5 cm, move right 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1986701637506485, + 0.17226718366146088, + 0.020987994968891144, + -2.983809232711792, + -0.17119354009628296, + 0.36652258038520813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition near fold line", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth, having completed the approach phase. The gripper is open and ready to grasp. The next action is to close the gripper to secure the corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 7 cm, move right 6 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1992066502571106, + 0.1777900606393814, + 0.01590108685195446, + -2.9998292922973633, + -0.162481427192688, + 0.3655419945716858 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition near fold line", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth, having completed the approach phase. The gripper is open and ready to grasp. The next action is to close the gripper to secure the corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 9 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19720499217510223, + 0.17993488907814026, + 0.00978988315910101, + -3.001089334487915, + -0.1509263664484024, + 0.3538356125354767 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition near fold line", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth, having completed the approach phase. The gripper is open and ready to grasp. The next action is to close the gripper to secure the corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 10 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19679297506809235, + 0.18221686780452728, + 0.008756565861403942, + -3.013282060623169, + -0.15292175114154816, + 0.3636062443256378 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth, having completed the approach phase. The gripper is open and ready to grasp. The next action is to close the gripper to secure the corner for lifting and folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 11 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19661256670951843, + 0.1827947199344635, + 0.008784470148384571, + -3.011000871658325, + -0.15765151381492615, + 0.3547738492488861 + ], + "gripper_value": 0.19087372720241547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth with the gripper partially closed, indicating contact or initial grasp. The cloth remains flat on the table, and no folding motion has yet occurred. The next action should be to secure the grasp and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 12 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.18101100623607635, + 0.19241616129875183, + 0.029422327876091003, + -2.9578723907470703, + -0.18206900358200073, + 0.40530017018318176 + ], + "gripper_value": 0.08747956901788712 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth with the gripper partially closed, indicating contact or initial grasp. The cloth remains flat on the table, and no folding motion has yet occurred. The next action should be to secure the grasp and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 12 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.17204000055789948, + 0.1980934888124466, + 0.05935544893145561, + -2.87337327003479, + -0.18380695581436157, + 0.41138914227485657 + ], + "gripper_value": 0.06895258277654648 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 5, + 244, + 645, + 924 + ], + "table": [ + 4, + 3, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and initiate fold", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth with the gripper partially closed, indicating contact or initial grasp. The cloth remains flat on the table, and no folding motion has yet occurred. The next action should be to secure the grasp and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 12 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 3 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.18913719058036804, + 0.1858934462070465, + 0.07667429000139236, + -2.8312783241271973, + -0.15443874895572662, + 0.3784830570220947 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete fold motion", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth with the gripper partially closed, indicating contact or initial grasp. The cloth remains flat on the table, and no folding motion has yet occurred. The next action should be to secure the grasp and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 4 cm, move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21415074169635773, + 0.16332131624221802, + 0.07899165898561478, + -2.842421054840088, + -0.15099050104618073, + 0.35045623779296875 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete fold motion", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth with the gripper partially closed, indicating contact or initial grasp. The cloth remains flat on the table, and no folding motion has yet occurred. The next action should be to secure the grasp and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 5 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2415233552455902, + 0.14475344121456146, + 0.06943965703248978, + -2.88043475151062, + -0.11182187497615814, + 0.30692535638809204 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 86, + 246, + 628, + 930 + ], + "table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete fold motion", + "subtask_reasoning": "The robot is positioned near the bottom left corner of the orange cloth with the gripper partially closed, indicating contact or initial grasp. The cloth remains flat on the table, and no folding motion has yet occurred. The next action should be to secure the grasp and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 5 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26095205545425415, + 0.128414586186409, + 0.05862998962402344, + -2.9124152660369873, + -0.07129150629043579, + 0.2692373991012573 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete fold motion", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 5 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27957767248153687, + 0.11495408415794373, + 0.05232330784201622, + -2.9406113624572754, + -0.06294246017932892, + 0.23912793397903442 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete fold motion", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913113236427307, + 0.10601946711540222, + 0.04109732434153557, + -2.9807984828948975, + -0.056838445365428925, + 0.22285884618759155 + ], + "gripper_value": 0.0925319567322731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete fold motion", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper open; then move forward 5 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2978481650352478, + 0.10256415605545044, + 0.03838531672954559, + -3.00323748588562, + -0.06892216205596924, + 0.216878741979599 + ], + "gripper_value": 0.2385561764240265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "complete fold motion", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 5 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3083631694316864, + 0.09583261609077454, + 0.04059058055281639, + -3.018199920654297, + -0.08660104870796204, + 0.17466990649700165 + ], + "gripper_value": 0.5091317892074585 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3241599202156067, + 0.08483404666185379, + 0.042340267449617386, + -3.0437920093536377, + -0.09782036393880844, + 0.14012402296066284 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3426636755466461, + 0.06651698052883148, + 0.048689186573028564, + -3.0788910388946533, + -0.12145760655403137, + 0.1223415806889534 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 145, + 260, + 629, + 934 + ], + "table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3525068163871765, + 0.05283632501959801, + 0.054305125027894974, + -3.070800304412842, + -0.149704247713089, + 0.08454202860593796 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the bottom left corner of the orange cloth, which has been lifted and partially dragged toward the right. The fold motion is in progress, with the cloth mid-air and not yet settled. The next action should continue dragging the cloth diagonally rightward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35390505194664, + 0.05004636570811272, + 0.052659742534160614, + -3.0662906169891357, + -0.16122333705425262, + 0.0442766472697258 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from the bottom left to the right, with the gripper currently positioned above the folded cloth. The gripper is open, indicating the release phase is complete. The next action is to retreat the gripper away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537869453430176, + 0.04946849122643471, + 0.0523301362991333, + -3.0661094188690186, + -0.1611069142818451, + 0.04109298437833786 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from the bottom left to the right, with the gripper currently positioned above the folded cloth. The gripper is open, indicating the release phase is complete. The next action is to retreat the gripper away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537106513977051, + 0.05001113936305046, + 0.0523301362991333, + -3.0661094188690186, + -0.1611069142818451, + 0.04262696951627731 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from the bottom left to the right, with the gripper currently positioned above the folded cloth. The gripper is open, indicating the release phase is complete. The next action is to retreat the gripper away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537106513977051, + 0.05001113936305046, + 0.0523301362991333, + -3.0661094188690186, + -0.1611069142818451, + 0.04262696951627731 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from the bottom left to the right, with the gripper currently positioned above the folded cloth. The gripper is open, indicating the release phase is complete. The next action is to retreat the gripper away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537106513977051, + 0.05001113936305046, + 0.0523301362991333, + -3.0661094188690186, + -0.1611069142818451, + 0.04262696951627731 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottom left corner" + }, + { + "id": 2, + "subtask": "reposition near fold line" + }, + { + "id": 3, + "subtask": "grasp and initiate fold" + }, + { + "id": 4, + "subtask": "complete fold motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth has been folded from the bottom left to the right, with the gripper currently positioned above the folded cloth. The gripper is open, indicating the release phase is complete. The next action is to retreat the gripper away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000751_ecot.json b/cot/chunk-0000/episode_0000751_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0827244cf3abe7576cf773bee41550918483baca --- /dev/null +++ b/cot/chunk-0000/episode_0000751_ecot.json @@ -0,0 +1,1060 @@ +{ + "task_name": "episode_0000751", + "episode_json": "json/chunk-0000/episode_0000751.json", + "video_path": "videos/chunk-0000/image_0/episode_0000751.mp4", + "instruction": "Put knife on cutting board.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000751.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.5636637210845947, + "std": 0.2562887668609619, + "delta_total": -0.5636637210845947, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56366, std=0.25629, total_delta=-0.56366). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 107 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 8 + ], + [ + 3, + 9, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on knife\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the knife handle and close gripper to establish contact and grasp.\"},\n {\"id\": 2, \"name\": \"reposition gripped knife slightly\", \"start\": 7, \"end\": 8, \"planning\": \"Adjust position of the gripped knife with minimal motion while maintaining grip.\"},\n {\"id\": 3, \"name\": \"transport knife to cutting board\", \"start\": 9, \"end\": 16, \"planning\": \"Carry the knife across the workspace toward the green cutting board without releasing grip.\"}\n ],\n \"global_plan\": \"Grasp the knife from its initial position near the stove, make minor adjustments, then transport it to the cutting board area.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.47574) consistent with grasping; Segments 2 and 3 show no further gripper change, so actions are described as repositioning and transporting while holding, not releasing or placing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on knife", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the knife handle and close gripper to establish contact and grasp." + }, + { + "id": 2, + "name": "reposition gripped knife slightly", + "start": 7, + "end": 8, + "planning": "Adjust position of the gripped knife with minimal motion while maintaining grip." + }, + { + "id": 3, + "name": "transport knife to cutting board", + "start": 9, + "end": 16, + "planning": "Carry the knife across the workspace toward the green cutting board without releasing grip." + } + ], + "global_plan": "Grasp the knife from its initial position near the stove, make minor adjustments, then transport it to the cutting board area.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.47574) consistent with grasping; Segments 2 and 3 show no further gripper change, so actions are described as repositioning and transporting while holding, not releasing or placing." + } + }, + "episode_goal": "Place the knife on the green cutting board.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31415095925331116, + 0.03521612286567688, + 0.04476907104253769, + -3.0040597915649414, + -0.11153505742549896, + 0.014727337285876274 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "approach and close gripper on knife", + "subtask_reasoning": "The robot is positioned above the stove with the knife visible on a burner. The gripper is currently open and approaching the knife handle. The next action is to lower the gripper and close it to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.317431777715683, + 0.03349597007036209, + 0.03501579165458679, + -3.0109574794769287, + -0.11231900751590729, + -0.002471368294209242 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "approach and close gripper on knife", + "subtask_reasoning": "The robot is positioned above the stove with the knife visible on a burner. The gripper is currently open and approaching the knife handle. The next action is to lower the gripper and close it to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32031360268592834, + 0.03362099081277847, + 0.02795153111219406, + -3.024103879928589, + -0.11873839795589447, + -0.0127045176923275 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "approach and close gripper on knife", + "subtask_reasoning": "The robot is positioned above the stove with the knife visible on a burner. The gripper is currently open and approaching the knife handle. The next action is to lower the gripper and close it to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3218095004558563, + 0.03820004314184189, + 0.020939737558364868, + -3.0274972915649414, + -0.11945395916700363, + -0.016782265156507492 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple toy food": [ + 130, + 140, + 310, + 278 + ], + "toy kitchen counter": [ + 8, + 45, + 993, + 980 + ], + "cutting board": [ + 274, + 217, + 460, + 444 + ], + "stove burner": [ + 107, + 206, + 329, + 399 + ], + "orange bottle": [ + 890, + 150, + 966, + 278 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "approach and close gripper on knife", + "subtask_reasoning": "The robot arm is positioned above the stove area where the knife is located, with the gripper currently open. No contact has been made yet, and the subtask requires closing the gripper to grasp the knife. The next action should be to lower the arm slightly and close the gripper around the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3263462781906128, + 0.03789445012807846, + 0.020310284569859505, + -3.029507637023926, + -0.1492469161748886, + -0.012882750481367111 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "approach and close gripper on knife", + "subtask_reasoning": "The robot arm is positioned above the stove area where the knife is located, with the gripper currently open. No contact has been made yet, and the subtask requires closing the gripper to grasp the knife. The next action should be to lower the arm slightly and close the gripper around the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272303640842438, + 0.03792538866400719, + 0.018005961552262306, + -3.031064033508301, + -0.16502805054187775, + 0.0023708653170615435 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "approach and close gripper on knife", + "subtask_reasoning": "The robot arm is positioned above the stove area where the knife is located, with the gripper currently open. No contact has been made yet, and the subtask requires closing the gripper to grasp the knife. The next action should be to lower the arm slightly and close the gripper around the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3269352614879608, + 0.03851987048983574, + 0.017108352854847908, + -3.0253212451934814, + -0.16651961207389832, + 0.009242434985935688 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "approach and close gripper on knife", + "subtask_reasoning": "The robot arm is positioned above the stove area where the knife is located, with the gripper currently open. No contact has been made yet, and the subtask requires closing the gripper to grasp the knife. The next action should be to lower the arm slightly and close the gripper around the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.32378730177879333, + 0.04046076163649559, + 0.018165793269872665, + -3.010875940322876, + -0.13891609013080597, + 0.013331100344657898 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "reposition gripped knife slightly", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the knife near the stove. The current subtask involves making minor adjustments to the gripped knife's position. The next action is likely a slight repositioning of the knife to ensure a secure grip before transporting it to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.318022221326828, + 0.04331037402153015, + 0.022655164822936058, + -2.9617559909820557, + -0.07370936125516891, + -0.008670073002576828 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "reposition gripped knife slightly", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the knife near the stove. The current subtask involves making minor adjustments to the gripped knife's position. The next action is likely a slight repositioning of the knife to ensure a secure grip before transporting it to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242233693599701, + 0.05169317498803139, + 0.031962983310222626, + -2.9113285541534424, + -0.07215515524148941, + -0.059909798204898834 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the knife near the stove. The current subtask involves making minor adjustments to the gripped knife's position. The next action is likely a slight repositioning of the knife to ensure a secure grip before transporting it to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257913887500763, + 0.07705044746398926, + 0.03413459286093712, + -2.8840556144714355, + -0.08655520528554916, + -0.09414458274841309 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the knife near the stove. The current subtask involves making minor adjustments to the gripped knife's position. The next action is likely a slight repositioning of the knife to ensure a secure grip before transporting it to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3280142545700073, + 0.10182038694620132, + 0.04248757287859917, + -2.857595920562744, + -0.12251576036214828, + -0.1378495842218399 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen counter": [ + 7, + 52, + 993, + 981 + ], + "purple toy food": [ + 130, + 139, + 311, + 278 + ], + "yellow toy food": [ + 881, + 621, + 957, + 743 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot has successfully approached and closed its gripper on the knife near the stove. The current subtask involves making minor adjustments to the gripped knife's position. The next action is likely a slight repositioning of the knife to ensure a secure grip before transporting it to the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32991164922714233, + 0.127709299325943, + 0.04455321282148361, + -2.8212413787841797, + -0.15481354296207428, + -0.18592627346515656 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is currently holding the knife and moving it across the kitchen counter toward the green cutting board. The gripper state remains constant, indicating the object is secured during this transport phase. The next action is to continue moving the end-effector until it is positioned directly above the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33292314410209656, + 0.14924240112304688, + 0.04736999422311783, + -2.7903358936309814, + -0.2011452168226242, + -0.22823157906532288 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is currently holding the knife and moving it across the kitchen counter toward the green cutting board. The gripper state remains constant, indicating the object is secured during this transport phase. The next action is to continue moving the end-effector until it is positioned directly above the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327908217906952, + 0.16035114228725433, + 0.040666304528713226, + -2.8016650676727295, + -0.21884068846702576, + -0.2612043619155884 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is currently holding the knife and moving it across the kitchen counter toward the green cutting board. The gripper state remains constant, indicating the object is secured during this transport phase. The next action is to continue moving the end-effector until it is positioned directly above the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341190814971924, + 0.16394752264022827, + 0.03438951075077057, + -2.814262866973877, + -0.23587214946746826, + -0.27454009652137756 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is currently holding the knife and moving it across the kitchen counter toward the green cutting board. The gripper state remains constant, indicating the object is secured during this transport phase. The next action is to continue moving the end-effector until it is positioned directly above the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33797723054885864, + 0.16527725756168365, + 0.03388935700058937, + -2.801363945007324, + -0.2538355886936188, + -0.2711191475391388 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on knife" + }, + { + "id": 2, + "subtask": "reposition gripped knife slightly" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is currently holding the knife and moving it across the kitchen counter toward the green cutting board. The gripper state remains constant, indicating the object is secured during this transport phase. The next action is to continue moving the end-effector until it is positioned directly above the cutting board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000752_ecot.json b/cot/chunk-0000/episode_0000752_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..afe8409e237ee35a785da5089665ead3aba5ad67 --- /dev/null +++ b/cot/chunk-0000/episode_0000752_ecot.json @@ -0,0 +1,1754 @@ +{ + "task_name": "episode_0000752", + "episode_json": "json/chunk-0000/episode_0000752.json", + "video_path": "videos/chunk-0000/image_0/episode_0000752.mp4", + "instruction": "Move the orange cloth behind the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000752.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019985437393188477, + "std": 0.00046921978355385363, + "delta_total": -0.0013307929039001465, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00200, std=0.00047, total_delta=-0.00133). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 25 + ], + [ + 3, + 26, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and contact orange cloth\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector down toward the orange cloth and make initial contact to prepare for sliding.\"},\n {\"id\": 2, \"name\": \"slide cloth behind pot\", \"start\": 10, \"end\": 19, \"planning\": \"Push and drag the orange cloth across the table surface toward the space behind the metal pot.\"},\n {\"id\": 3, \"name\": \"reposition and retreat\", \"start\": 20, \"end\": 25, \"planning\": \"Lift slightly and move the end-effector away from the cloth after positioning it behind the pot.\"},\n {\"id\": 4, \"name\": \"final retreat to home\", \"start\": 26, \"end\": 26, \"planning\": \"Complete the motion by returning the end-effector to a neutral elevated position above the scene.\"}\n ],\n \"global_plan\": \"The robot approaches the orange cloth, makes contact, slides it behind the pot without grasping, then retreats to a safe position.\",\n \"notes\": \"No grasp or lift occurred; all manipulation was contact-based sliding. Gripper remained open throughout. Segment boundaries respected with natural phase merging.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and contact orange cloth", + "start": 0, + "end": 9, + "planning": "Move the end-effector down toward the orange cloth and make initial contact to prepare for sliding." + }, + { + "id": 2, + "name": "slide cloth behind pot", + "start": 10, + "end": 19, + "planning": "Push and drag the orange cloth across the table surface toward the space behind the metal pot." + }, + { + "id": 3, + "name": "reposition and retreat", + "start": 20, + "end": 25, + "planning": "Lift slightly and move the end-effector away from the cloth after positioning it behind the pot." + }, + { + "id": 4, + "name": "final retreat to home", + "start": 26, + "end": 26, + "planning": "Complete the motion by returning the end-effector to a neutral elevated position above the scene." + } + ], + "global_plan": "The robot approaches the orange cloth, makes contact, slides it behind the pot without grasping, then retreats to a safe position.", + "notes": "No grasp or lift occurred; all manipulation was contact-based sliding. Gripper remained open throughout. Segment boundaries respected with natural phase merging." + } + }, + "episode_goal": "Move the orange cloth behind the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29482191801071167, + 0.00747654726728797, + 0.20883649587631226, + -3.124502420425415, + -0.18483854830265045, + -0.060020409524440765 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the pot visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector forward to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, move down 14 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29725128412246704, + 0.007536184974014759, + 0.20244809985160828, + -3.125582218170166, + -0.16336731612682343, + -0.06436539441347122 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the pot visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector forward to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31145092844963074, + -0.0002441525866743177, + 0.19532828032970428, + -3.1104371547698975, + -0.15840961039066315, + -0.13573868572711945 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the pot visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector forward to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 19 cm, move down 13 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30481067299842834, + 0.03878599777817726, + 0.17964303493499756, + -3.1144282817840576, + -0.14980506896972656, + -0.11665812879800797 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is positioned near the orange cloth on the table, with the pot visible to the right. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector forward to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824719548225403, + 0.08965755999088287, + 0.16284120082855225, + -3.1144819259643555, + -0.1517660915851593, + -0.07138098031282425 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542518079280853, + 0.13663990795612335, + 0.14599135518074036, + -3.1355297565460205, + -0.13839225471019745, + 0.010904188267886639 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange sponge": [ + 68, + 304, + 345, + 547 + ], + "metal bowl": [ + 553, + 321, + 804, + 557 + ], + "wooden board": [ + 36, + 168, + 898, + 941 + ], + "black utensil": [ + 600, + 352, + 695, + 491 + ], + "blue brush": [ + 398, + 225, + 487, + 384 + ], + "white appliance": [ + 153, + 598, + 733, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24644510447978973, + 0.1403549462556839, + 0.13245311379432678, + -3.140598773956299, + -0.12856219708919525, + 0.04205089807510376 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 5 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2466464787721634, + 0.14634285867214203, + 0.11402518302202225, + -3.1188180446624756, + -0.09349456429481506, + 0.07793831080198288 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, keep gripper open; then move forward 5 cm, move right 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25398576259613037, + 0.15064017474651337, + 0.09425454586744308, + -3.0884499549865723, + -0.06291083991527557, + 0.06742609292268753 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, keep gripper open; then move forward 6 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24944400787353516, + 0.16545379161834717, + 0.07669784128665924, + -3.06622052192688, + -0.012860042974352837, + 0.05925754830241203 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "approach and contact orange cloth", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, keep gripper open; then move forward 6 cm, move right 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2460600584745407, + 0.19068783521652222, + 0.07002944499254227, + -3.0557680130004883, + -0.007828354835510254, + 0.06680262833833694 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 566, + 321, + 828, + 557 + ], + "orange sponge": [ + 68, + 308, + 345, + 548 + ], + "wooden board": [ + 34, + 170, + 898, + 941 + ], + "blue brush": [ + 397, + 226, + 487, + 385 + ], + "white appliance": [ + 151, + 597, + 730, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25747302174568176, + 0.20168627798557281, + 0.06033613532781601, + -3.065638542175293, + -0.0007485509850084782, + 0.0008086331654340029 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 7 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26407837867736816, + 0.211445614695549, + 0.04677397757768631, + -3.050668954849243, + 0.03801824897527695, + -0.014122805558145046 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 9 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768242657184601, + 0.2099907100200653, + 0.03594190627336502, + -3.0458247661590576, + 0.051906585693359375, + -0.028918446972966194 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is approaching the orange cloth on the table, with the pot positioned to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870815396308899, + 0.19930750131607056, + 0.034646373242139816, + -3.0385520458221436, + 0.03467410430312157, + -0.06945928931236267 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.292982816696167, + 0.19150905311107635, + 0.029123129323124886, + -3.0820159912109375, + -0.010815197601914406, + -0.06404731422662735 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 11 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29777970910072327, + 0.18298999965190887, + 0.015521006658673286, + -3.127946615219116, + -0.028151359409093857, + -0.09220683574676514 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 13 cm, move up 16 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005029261112213, + 0.17919518053531647, + 0.007735934108495712, + -3.1339309215545654, + 0.004135457798838615, + -0.14144355058670044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 13 cm, move up 16 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3036131262779236, + 0.1734568476676941, + 0.004675418604165316, + -3.1082370281219482, + 0.06763380020856857, + -0.20811621844768524 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper open; then move right 13 cm, move up 16 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078402578830719, + 0.16446925699710846, + 0.00454737851396203, + -3.086519241333008, + 0.13439272344112396, + -0.2603195309638977 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "slide cloth behind pot", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, keep gripper open; then move right 13 cm, move up 16 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006828725337982, + 0.13621371984481812, + 0.007173053454607725, + 3.1312777996063232, + 0.1374812126159668, + -0.2282637506723404 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 13 cm, move up 16 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28388553857803345, + 0.06835158914327621, + 0.018957410007715225, + 3.016263246536255, + 0.13240444660186768, + -0.1962062120437622 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 561, + 321, + 831, + 558 + ], + "orange sponge": [ + 190, + 409, + 477, + 659 + ], + "wooden board": [ + 37, + 198, + 898, + 943 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot is in contact with the orange cloth, positioned to slide it behind the pot. The gripper remains open, confirming no grasp has occurred. The next action is to push the cloth further toward the target position behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 15 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.259592205286026, + 0.045078933238983154, + 0.04903161898255348, + 2.992356538772583, + 0.08787762373685837, + -0.0749024972319603 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange cloth has been successfully slid behind the pot. The robot is currently positioned above the cloth with an open gripper, indicating no grasp. The next action is to retreat the arm to a safe position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 12 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24669967591762543, + 0.03650336712598801, + 0.056712422519922256, + 2.9992382526397705, + 0.09046172350645065, + 0.022152230143547058 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange cloth has been successfully slid behind the pot. The robot is currently positioned above the cloth with an open gripper, indicating no grasp. The next action is to retreat the arm to a safe position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24842721223831177, + 0.03758867830038071, + 0.07623889297246933, + 3.0427286624908447, + 0.04951095208525658, + 0.055562060326337814 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange cloth has been successfully slid behind the pot. The robot is currently positioned above the cloth with an open gripper, indicating no grasp. The next action is to retreat the arm to a safe position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2744157910346985, + 0.021569255739450455, + 0.127947598695755, + 3.1313111782073975, + -0.07158356159925461, + 0.012338420376181602 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange cloth has been successfully slid behind the pot. The robot is currently positioned above the cloth with an open gripper, indicating no grasp. The next action is to retreat the arm to a safe position to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981478273868561, + 0.0029544851277023554, + 0.1667286902666092, + -3.137741804122925, + -0.15851934254169464, + -0.09054452180862427 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange cloth behind the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact orange cloth" + }, + { + "id": 2, + "subtask": "slide cloth behind pot" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat to home" + } + ], + "subtask_name": "final retreat to home", + "subtask_reasoning": "The orange cloth has been successfully slid behind the pot, completing the manipulation phase. The robot is currently in a retreat motion, moving away from the workspace with an open gripper. The next action is to continue moving to the designated home position to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000753_ecot.json b/cot/chunk-0000/episode_0000753_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..81070534504313cf7b6daf4e92451cef4571fbc0 --- /dev/null +++ b/cot/chunk-0000/episode_0000753_ecot.json @@ -0,0 +1,2398 @@ +{ + "task_name": "episode_0000753", + "episode_json": "json/chunk-0000/episode_0000753.json", + "video_path": "videos/chunk-0000/image_0/episode_0000753.mp4", + "instruction": "Move the blue spoon to the right bottom corner of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000753.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.6733363270759583, + "std": 0.3205970525741577, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67334, std=0.32060, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 213, + 213, + 213, + 213, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 330, + 330, + 330, + 330, + 330, + 330 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 16 + ], + [ + 4, + 17, + 29 + ], + [ + 5, + 30, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue spoon on the burner without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 6, \"end\": 12, \"planning\": \"Close gripper around the blue spoon and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the grasped spoon slightly and begin moving it toward the right bottom corner of the burner.\"},\n {\"id\": 4, \"name\": \"place spoon at target\", \"start\": 17, \"end\": 29, \"planning\": \"Lower the spoon to the target location in the right bottom corner and release grip as gripper opens partially.\"},\n {\"id\": 5, \"name\": \"retreat from spoon\", \"start\": 30, \"end\": 35, \"planning\": \"Fully open gripper and move end-effector away from the placed spoon to complete the task.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, grasp it securely, lift and transport it to the right bottom corner of the burner, place it down with controlled release, then retreat to finalize placement.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2, 4, and 5 — consistent with grasp, hold, and release phases. Segment 1 shows no gripper motion, so only approach is described. All frame ranges are contiguous and cover full trajectory [0,35].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue spoon on the burner without closing gripper." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 6, + "end": 12, + "planning": "Close gripper around the blue spoon and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 13, + "end": 16, + "planning": "Lift the grasped spoon slightly and begin moving it toward the right bottom corner of the burner." + }, + { + "id": 4, + "name": "place spoon at target", + "start": 17, + "end": 29, + "planning": "Lower the spoon to the target location in the right bottom corner and release grip as gripper opens partially." + }, + { + "id": 5, + "name": "retreat from spoon", + "start": 30, + "end": 35, + "planning": "Fully open gripper and move end-effector away from the placed spoon to complete the task." + } + ], + "global_plan": "Approach the blue spoon, grasp it securely, lift and transport it to the right bottom corner of the burner, place it down with controlled release, then retreat to finalize placement.", + "notes": "Gripper evidence confirms meaningful closing in segments 2, 4, and 5 — consistent with grasp, hold, and release phases. Segment 1 shows no gripper motion, so only approach is described. All frame ranges are contiguous and cover full trajectory [0,35]." + } + }, + "episode_goal": "Move the blue spoon to the right bottom corner of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25387945771217346, + 0.11274830996990204, + 0.12537816166877747, + -2.8160030841827393, + -0.07336783409118652, + -0.41467374563217163 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue spoon visible on the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25184139609336853, + 0.11197338253259659, + 0.1189207211136818, + -2.834537982940674, + -0.057376738637685776, + -0.40348148345947266 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the blue spoon visible on the burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25875288248062134, + 0.10021599382162094, + 0.11891189962625504, + -2.85316801071167, + -0.05269685387611389, + -0.39532729983329773 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756441831588745, + 0.09561964869499207, + 0.11580543965101242, + -2.857022762298584, + -0.053485117852687836, + -0.4046824872493744 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30199167132377625, + 0.08094146102666855, + 0.10865537077188492, + -2.9051907062530518, + -0.06445340067148209, + -0.3814319372177124 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32434600591659546, + 0.06867698580026627, + 0.10501102358102798, + -2.983267068862915, + -0.13144013285636902, + -0.29329991340637207 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue wall panel": [ + 1, + 2, + 251, + 476 + ], + "tiled wall": [ + 432, + 2, + 997, + 428 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper open; then move forward 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3421920835971832, + 0.05612141266465187, + 0.08674871176481247, + -3.0035011768341064, + -0.11003829538822174, + -0.30027636885643005 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34760087728500366, + 0.05324744060635567, + 0.06321778148412704, + -2.9946465492248535, + -0.07271184772253036, + -0.3049839735031128 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3532216250896454, + 0.04304331913590431, + 0.04746602475643158, + -2.962348699569702, + -0.05446857959032059, + -0.3322869837284088 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue spoon visible on the burner. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577023446559906, + 0.03649482876062393, + 0.026475582271814346, + -2.965139389038086, + -0.0208195298910141, + -0.3639625906944275 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tiled wall": [ + 311, + 1, + 998, + 429 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the burner. The gripper is currently open and positioned above the spoon, ready to close. The next action is to close the gripper to grasp the spoon securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3630713224411011, + 0.03664898872375488, + 0.016999907791614532, + -2.9734086990356445, + -0.00894178170710802, + -0.372005432844162 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the burner. The gripper is currently open and positioned above the spoon, ready to close. The next action is to close the gripper to grasp the spoon securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3700270652770996, + 0.03848233446478844, + 0.013457045890390873, + -2.9670379161834717, + -0.0017953331116586924, + -0.39988017082214355 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the burner. The gripper is currently open and positioned above the spoon, ready to close. The next action is to close the gripper to grasp the spoon securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 3 cm, move right 5 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3738452196121216, + 0.04088780656456947, + 0.012735179625451565, + -2.9582364559173584, + -0.001352486782707274, + -0.40964436531066895 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the burner. The gripper is currently open and positioned above the spoon, ready to close. The next action is to close the gripper to grasp the spoon securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 6 cm, move right 7 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3682072162628174, + 0.051164306700229645, + 0.01323320809751749, + -2.8959736824035645, + 0.060376398265361786, + -0.42159855365753174 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the blue spoon on the burner. The gripper is currently open and positioned above the spoon, ready to close. The next action is to close the gripper to grasp the spoon securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 8 cm, move right 9 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36136555671691895, + 0.045473478734493256, + 0.009657386690378189, + -2.8763880729675293, + 0.09619523584842682, + -0.4472341239452362 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 10 cm, move right 11 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.356745183467865, + 0.043854035437107086, + 0.010940399020910263, + -2.8882057666778564, + 0.09599922597408295, + -0.441135972738266 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 11 cm, move right 11 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527248501777649, + 0.04189891740679741, + 0.017805734649300575, + -2.899418354034424, + 0.09028398990631104, + -0.44657766819000244 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move back 11 cm, move right 11 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3570532202720642, + 0.04298336058855057, + 0.03285491093993187, + -2.8922934532165527, + 0.04566480219364166, + -0.4569832384586334 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 10 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36374911665916443, + 0.05039395019412041, + 0.05854304879903793, + -2.8972175121307373, + -0.035165730863809586, + -0.4353959858417511 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 11 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618907928466797, + 0.03420661762356758, + 0.08324733376502991, + -2.8976826667785645, + -0.08733397722244263, + -0.46935275197029114 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 10 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34978803992271423, + 0.011503300629556179, + 0.10041359066963196, + -2.887037754058838, + -0.108077272772789, + -0.5318133234977722 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 8 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3273574709892273, + -0.007942055352032185, + 0.11924976855516434, + -2.8636415004730225, + -0.13503089547157288, + -0.5799464583396912 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 6 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29951760172843933, + -0.031832218170166016, + 0.12650179862976074, + -2.8594837188720703, + -0.1516832411289215, + -0.6191509366035461 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot has successfully grasped the blue spoon and is currently lifting it from the stovetop. The gripper is closed around the spoon, and the arm is in motion to reposition it. The next action is to continue moving the spoon toward the right bottom corner of the burner for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27690786123275757, + -0.05030626058578491, + 0.11658614128828049, + -2.8513150215148926, + -0.11458589881658554, + -0.6526837348937988 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590193450450897, + -0.0635577142238617, + 0.09858984500169754, + -2.853576183319092, + -0.0797824040055275, + -0.6687595844268799 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 9 cm, tilt forward 10 degrees, open gripper; then move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25066661834716797, + -0.06594917178153992, + 0.0713101327419281, + -2.8680169582366943, + -0.032658688724040985, + -0.6733012199401855 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tiled wall": [ + 311, + 2, + 997, + 431 + ], + "blue wall panel": [ + 1, + 2, + 249, + 474 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2517452538013458, + -0.062469106167554855, + 0.04104945808649063, + -2.8970742225646973, + -0.008361964486539364, + -0.6860285997390747 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539602518081665, + -0.05757472664117813, + 0.016701674088835716, + -2.893554925918579, + 0.039892882108688354, + -0.6951044797897339 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590016722679138, + -0.05648518726229668, + 0.009604784660041332, + -2.8813536167144775, + 0.07087516039609909, + -0.7036351561546326 + ], + "gripper_value": 0.33077090978622437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2586067020893097, + -0.06210282817482948, + 0.009903333149850368, + -2.8789310455322266, + 0.06793717294931412, + -0.7011739015579224 + ], + "gripper_value": 0.39711064100265503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25203755497932434, + -0.06432989984750748, + 0.008807065896689892, + -2.9151477813720703, + 0.0915723517537117, + -0.7020894289016724 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue wall panel": [ + 1, + 2, + 254, + 465 + ], + "tiled wall": [ + 311, + 1, + 998, + 432 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2515203654766083, + -0.06648183614015579, + 0.010348454117774963, + -2.908243179321289, + 0.098179392516613, + -0.7336591482162476 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The blue spoon is currently held by the gripper and positioned above the right bottom corner of the burner. The gripper remains closed with minimal motion, indicating stable transport. The next action is to lower the spoon and release it precisely at the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523999810218811, + -0.06797850877046585, + 0.016963180154561996, + -2.898759126663208, + 0.08151163160800934, + -0.7397075891494751 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The blue spoon has been successfully placed at the right bottom corner of the burner. The gripper is open and the arm is positioned above the spoon, indicating the placement is complete. The robot is now retreating from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24951639771461487, + -0.06795965880155563, + 0.040522657334804535, + -2.894423007965088, + 0.012708690017461777, + -0.7336666584014893 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The blue spoon has been successfully placed at the right bottom corner of the burner. The gripper is open and the arm is positioned above the spoon, indicating the placement is complete. The robot is now retreating from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2500695288181305, + -0.06838764995336533, + 0.0666770190000534, + -2.903435230255127, + -0.06962671130895615, + -0.7119577527046204 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The blue spoon has been successfully placed at the right bottom corner of the burner. The gripper is open and the arm is positioned above the spoon, indicating the placement is complete. The robot is now retreating from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2514086067676544, + -0.07182192802429199, + 0.09320035576820374, + -2.9002842903137207, + -0.1312771439552307, + -0.7167664170265198 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the right bottom corner of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The blue spoon has been successfully placed at the right bottom corner of the burner. The gripper is open and the arm is positioned above the spoon, indicating the placement is complete. The robot is now retreating from the spoon to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000755_ecot.json b/cot/chunk-0000/episode_0000755_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0e579aaf014e3e2aef2ee2c57542da942aa77149 --- /dev/null +++ b/cot/chunk-0000/episode_0000755_ecot.json @@ -0,0 +1,2279 @@ +{ + "task_name": "episode_0000755", + "episode_json": "json/chunk-0000/episode_0000755.json", + "video_path": "videos/chunk-0000/image_0/episode_0000755.mp4", + "instruction": "Move the blue thing to left of the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000755.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.4324946999549866, + "std": 0.20889268815517426, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43249, std=0.20889, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ], + [ + 3, + 15, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the blue block on the orange cloth without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue block\", \"start\": 6, \"end\": 14, \"planning\": \"Close the gripper around the blue block and secure it for transport.\"},\n {\"id\": 3, \"name\": \"transport blue block left\", \"start\": 15, \"end\": 30, \"planning\": \"Carry the grasped blue block leftward across the stovetop toward the target position left of the silver pot.\"},\n {\"id\": 4, \"name\": \"release blue block\", \"start\": 31, \"end\": 35, \"planning\": \"Open the gripper to place the blue block on the stovetop left of the silver pot and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the blue block, grasp it firmly, move it leftward to the designated spot beside the silver pot, then release it cleanly.\",\n \"notes\": \"Segment 1 shows no gripper closure — purely approach motion. Segment 2 shows significant gripper closing consistent with grasping. Segment 3 maintains grip during transport and ends with gripper opening at frame 35, confirming release. Frame boundaries respect contiguous coverage from 0 to 35.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the blue block on the orange cloth without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue block", + "start": 6, + "end": 14, + "planning": "Close the gripper around the blue block and secure it for transport." + }, + { + "id": 3, + "name": "transport blue block left", + "start": 15, + "end": 30, + "planning": "Carry the grasped blue block leftward across the stovetop toward the target position left of the silver pot." + }, + { + "id": 4, + "name": "release blue block", + "start": 31, + "end": 35, + "planning": "Open the gripper to place the blue block on the stovetop left of the silver pot and retreat slightly." + } + ], + "global_plan": "Approach the blue block, grasp it firmly, move it leftward to the designated spot beside the silver pot, then release it cleanly.", + "notes": "Segment 1 shows no gripper closure — purely approach motion. Segment 2 shows significant gripper closing consistent with grasping. Segment 3 maintains grip during transport and ends with gripper opening at frame 35, confirming release. Frame boundaries respect contiguous coverage from 0 to 35." + } + }, + "episode_goal": "Move the blue sponge to the left of the silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27721184492111206, + -0.06685329973697662, + 0.10510092228651047, + -3.0656235218048096, + -0.4353620409965515, + 0.45469921827316284 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue sponge visible on the orange cloth to the right of the silver pot. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26864689588546753, + -0.06285339593887329, + 0.09108231961727142, + -3.021918773651123, + -0.39845383167266846, + 0.4393754005432129 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the stove, with the blue sponge visible on the orange cloth to the right of the silver pot. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue sponge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2728978991508484, + -0.06093275174498558, + 0.0695069432258606, + -2.9604578018188477, + -0.3424748182296753, + 0.4234091341495514 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 408, + 492, + 658, + 690 + ], + "metal pot": [ + 297, + 615, + 614, + 927 + ], + "sink": [ + 737, + 652, + 993, + 993 + ], + "tiled wall": [ + 243, + 2, + 998, + 645 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29008713364601135, + -0.06723735481500626, + 0.06580657511949539, + -2.9770185947418213, + -0.3480241894721985, + 0.4415203332901001 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024221360683441, + -0.06923113763332367, + 0.05706741660833359, + -2.9838080406188965, + -0.33611875772476196, + 0.46321651339530945 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3152347505092621, + -0.06165233626961708, + 0.04782234504818916, + -3.0326695442199707, + -0.31844836473464966, + 0.53899085521698 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199939429759979, + -0.05380867421627045, + 0.03575896471738815, + -3.0250818729400635, + -0.30076295137405396, + 0.5720226764678955 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.328034907579422, + -0.050163909792900085, + 0.02524716965854168, + -3.0205864906311035, + -0.28723692893981934, + 0.5980045199394226 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, close gripper; then move back 3 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337398171424866, + -0.04398215934634209, + 0.013646060600876808, + -3.005577325820923, + -0.2749980092048645, + 0.614001989364624 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move back 6 cm, move left 6 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357268273830414, + -0.04453204199671745, + 0.008692015893757343, + -2.9973576068878174, + -0.2687152326107025, + 0.6088684797286987 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the stove with the blue block visible on the orange mat to the right of the silver pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector toward the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper closed; then move back 8 cm, move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357234299182892, + -0.04089175537228584, + 0.008522309362888336, + -2.974238395690918, + -0.2804388403892517, + 0.6027342081069946 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 10 cm, move left 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33600321412086487, + -0.04045548662543297, + 0.008696225471794605, + -2.972803831100464, + -0.28359609842300415, + 0.6021971106529236 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 12 cm, move left 13 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360602557659149, + -0.0406423844397068, + 0.00915140938013792, + -2.973477840423584, + -0.28293243050575256, + 0.5990429520606995 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 12 cm, move left 15 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33458492159843445, + -0.04112432897090912, + 0.010998059064149857, + -2.97467041015625, + -0.2769258916378021, + 0.5918669700622559 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper closed; then move back 12 cm, move left 16 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33544260263442993, + -0.042250923812389374, + 0.026110390201210976, + -2.999192953109741, + -0.28989145159721375, + 0.5949241518974304 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move back 13 cm, move left 16 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335239887237549, + -0.04568030685186386, + 0.05610593780875206, + -3.0634000301361084, + -0.3091502785682678, + 0.6083906888961792 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 16 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196910321712494, + -0.041084423661231995, + 0.07961107045412064, + -3.0890417098999023, + -0.325460821390152, + 0.6095451712608337 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 15 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035160303115845, + -0.01666782982647419, + 0.09303335845470428, + -3.107088327407837, + -0.3410499095916748, + 0.6621496677398682 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 407, + 496, + 655, + 695 + ], + "metal pot": [ + 298, + 615, + 614, + 927 + ], + "sink": [ + 737, + 652, + 994, + 993 + ], + "tiled wall": [ + 246, + 2, + 998, + 643 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 13 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27453097701072693, + 0.01383892074227333, + 0.10675720870494843, + -3.1280875205993652, + -0.36263734102249146, + 0.7092437744140625 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 407, + 496, + 655, + 695 + ], + "metal pot": [ + 298, + 615, + 614, + 927 + ], + "sink": [ + 738, + 652, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.252962589263916, + 0.038708288222551346, + 0.10177125036716461, + -3.112672805786133, + -0.3561795651912689, + 0.7409228682518005 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2318401038646698, + 0.06597863882780075, + 0.09302809834480286, + -3.1012496948242188, + -0.3470321595668793, + 0.7888383269309998 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 9 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21708571910858154, + 0.08825677633285522, + 0.08070872724056244, + -3.0816080570220947, + -0.34063538908958435, + 0.8197337985038757 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot arm is positioned above the blue block on the stovetop, with the gripper open and ready to grasp. The approach phase is complete, and the current subtask requires closing the gripper to secure the blue block. The next action is to initiate the grasp by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21193693578243256, + 0.10263767838478088, + 0.06656379997730255, + -3.068937063217163, + -0.3350535035133362, + 0.8290585875511169 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.20868529379367828, + 0.110524982213974, + 0.04667231813073158, + -3.0451648235321045, + -0.32444754242897034, + 0.807318389415741 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2077503204345703, + 0.11256027966737747, + 0.029031114652752876, + -3.0211668014526367, + -0.31237414479255676, + 0.7827575206756592 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.20654933154582977, + 0.11447257548570633, + 0.01509845070540905, + -2.9990334510803223, + -0.3095690608024597, + 0.789588987827301 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20792655646800995, + 0.11012434959411621, + 0.006521833129227161, + -2.9946625232696533, + -0.2971164882183075, + 0.7998349070549011 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21524430811405182, + 0.10930323600769043, + 0.003613852895796299, + -2.998999834060669, + -0.3047289550304413, + 0.8076448440551758 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22133268415927887, + 0.11003430187702179, + 0.003002422396093607, + -3.0147550106048584, + -0.31249868869781494, + 0.8331115245819092 + ], + "gripper_value": 0.6460646390914917 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21936693787574768, + 0.10849004983901978, + 0.0019461094634607434, + -3.016129732131958, + -0.29759618639945984, + 0.8475836515426636 + ], + "gripper_value": 0.927960216999054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.21916688978672028, + 0.1084677204489708, + 0.0025947876274585724, + -3.0163087844848633, + -0.2975976765155792, + 0.8496463298797607 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "transport blue block left", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.21608032286167145, + 0.1060781255364418, + 0.007748765405267477, + -3.0213325023651123, + -0.2915460765361786, + 0.8401988744735718 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "release blue block", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.21769195795059204, + 0.10458630323410034, + 0.02088254690170288, + -3.0459201335906982, + -0.3092030882835388, + 0.8389382362365723 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "release blue block", + "subtask_reasoning": "The robot is currently holding the blue block and moving it leftward across the stovetop. The block is positioned above the red burner, approaching the target area to the left of the silver pot. The next action is to continue translating the block left until it is adjacent to the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.21602743864059448, + 0.09918733686208725, + 0.03748396039009094, + -3.0765573978424072, + -0.3066284656524658, + 0.8269517421722412 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "release blue block", + "subtask_reasoning": "The blue block is currently positioned to the left of the silver pot, near the edge of the stovetop. The gripper is open and not in contact with the block, indicating the release action has been completed. No further movement or grasping is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21332763135433197, + 0.0943015068769455, + 0.0571218840777874, + -3.1109817028045654, + -0.3209598660469055, + 0.8178194165229797 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "release blue block", + "subtask_reasoning": "The blue block is currently positioned to the left of the silver pot, near the edge of the stovetop. The gripper is open and not in contact with the block, indicating the release action has been completed. No further movement or grasping is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2062985897064209, + 0.08843547105789185, + 0.07883121818304062, + -3.1349494457244873, + -0.3314568102359772, + 0.7922574281692505 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 299, + 615, + 615, + 927 + ], + "sink": [ + 738, + 651, + 994, + 993 + ], + "orange towel": [ + 408, + 496, + 655, + 696 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue sponge to the left of the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block left" + }, + { + "id": 4, + "subtask": "release blue block" + } + ], + "subtask_name": "release blue block", + "subtask_reasoning": "The blue block is currently positioned to the left of the silver pot, near the edge of the stovetop. The gripper is open and not in contact with the block, indicating the release action has been completed. No further movement or grasping is required for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000756_ecot.json b/cot/chunk-0000/episode_0000756_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1eac273484ebb1707e34ff099080af4bcc000c35 --- /dev/null +++ b/cot/chunk-0000/episode_0000756_ecot.json @@ -0,0 +1,2392 @@ +{ + "task_name": "episode_0000756", + "episode_json": "json/chunk-0000/episode_0000756.json", + "video_path": "videos/chunk-0000/image_0/episode_0000756.mp4", + "instruction": "Pick up pot and place it on the blue towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000756.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.9487139582633972, + "std": 0.42395883798599243, + "delta_total": 0.006542205810546875, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94871, std=0.42396, total_delta=0.00654). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 313, + 313, + 313, + 313, + 313, + 313, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 227, + 227, + 127, + 127, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 26 + ], + [ + 5, + 27, + 28 + ], + [ + 6, + 29, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 7, \"planning\": \"Move the gripper from initial position toward the metal pot without closing.\"},\n {\"id\": 2, \"name\": \"close gripper on pot\", \"start\": 8, \"end\": 12, \"planning\": \"Close the gripper around the pot to establish a secure grasp.\"},\n {\"id\": 3, \"name\": \"lift and transport pot\", \"start\": 13, \"end\": 18, \"planning\": \"Lift the pot and move it horizontally toward the blue towel location.\"},\n {\"id\": 4, \"name\": \"lower pot onto towel\", \"start\": 19, \"end\": 26, \"planning\": \"Descend with the pot and place it gently on the blue towel while maintaining grip until contact is confirmed.\"},\n {\"id\": 5, \"name\": \"release pot\", \"start\": 27, \"end\": 28, \"planning\": \"Open the gripper to release the pot onto the towel.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 29, \"end\": 31, \"planning\": \"Move the gripper upward and away from the placed pot to complete the task.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp it securely, lift and carry it to the blue towel, lower it precisely onto the towel, release the grip, and retreat to finish.\",\n \"notes\": \"Segment 1 (frames 0-7) shows no gripper closure — correctly labeled as approach. Segment 3 (13-18) and 4 (19-26) show meaningful gripper closure and motion consistent with lifting and placing. Segment 5 (27-28) is brief but corresponds to release based on gripper opening trend. Segment 6 (29-31) shows retreat after release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 7, + "planning": "Move the gripper from initial position toward the metal pot without closing." + }, + { + "id": 2, + "name": "close gripper on pot", + "start": 8, + "end": 12, + "planning": "Close the gripper around the pot to establish a secure grasp." + }, + { + "id": 3, + "name": "lift and transport pot", + "start": 13, + "end": 18, + "planning": "Lift the pot and move it horizontally toward the blue towel location." + }, + { + "id": 4, + "name": "lower pot onto towel", + "start": 19, + "end": 26, + "planning": "Descend with the pot and place it gently on the blue towel while maintaining grip until contact is confirmed." + }, + { + "id": 5, + "name": "release pot", + "start": 27, + "end": 28, + "planning": "Open the gripper to release the pot onto the towel." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 29, + "end": 31, + "planning": "Move the gripper upward and away from the placed pot to complete the task." + } + ], + "global_plan": "Approach the pot, grasp it securely, lift and carry it to the blue towel, lower it precisely onto the towel, release the grip, and retreat to finish.", + "notes": "Segment 1 (frames 0-7) shows no gripper closure — correctly labeled as approach. Segment 3 (13-18) and 4 (19-26) show meaningful gripper closure and motion consistent with lifting and placing. Segment 5 (27-28) is brief but corresponds to release based on gripper opening trend. Segment 6 (29-31) shows retreat after release." + } + }, + "episode_goal": "Pick up the metal pot and place it on the blue towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34707826375961304, + -0.02989480085670948, + 0.10955915600061417, + 3.081855297088623, + -0.20996731519699097, + 0.08075796812772751 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 14 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450748920440674, + -0.030897747725248337, + 0.098851777613163, + 3.0828397274017334, + -0.1759616732597351, + 0.08067856729030609 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 15 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34491223096847534, + -0.01939583383500576, + 0.10059666633605957, + 3.0699198246002197, + -0.16502559185028076, + 0.11939384043216705 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3540988862514496, + 0.0007882411009632051, + 0.10216645896434784, + 3.071380853652954, + -0.17018604278564453, + 0.14223214983940125 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643537163734436, + 0.04478945955634117, + 0.10259060561656952, + 3.1054165363311768, + -0.19444479048252106, + 0.20362992584705353 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal cup": [ + 230, + 177, + 423, + 389 + ], + "blue cloth": [ + 524, + 427, + 838, + 761 + ], + "toy mushroom": [ + 138, + 431, + 330, + 599 + ], + "toy banana": [ + 499, + 365, + 600, + 553 + ], + "toy microwave": [ + 283, + 2, + 667, + 246 + ], + "coffee maker": [ + 402, + 9, + 648, + 281 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3813360035419464, + 0.0795474648475647, + 0.09226314723491669, + 3.105078935623169, + -0.18974073231220245, + 0.28931352496147156 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, keep gripper open; then move left 2 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.39890819787979126, + 0.10709990561008453, + 0.08237554132938385, + 3.115954875946045, + -0.18428201973438263, + 0.34091049432754517 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move left 2 cm, move down 4 cm, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.39805951714515686, + 0.11367116868495941, + 0.06792086362838745, + 3.132930040359497, + -0.15930664539337158, + 0.34057727456092834 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 4 cm, close gripper; then move back 2 cm, move right 5 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3930093050003052, + 0.11506069451570511, + 0.05667436495423317, + -3.129560708999634, + -0.13581408560276031, + 0.32544541358947754 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, close gripper; then move back 4 cm, move right 10 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3865932524204254, + 0.11965358257293701, + 0.04168648272752762, + -3.1099631786346436, + -0.10830081254243851, + 0.3435737192630768 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot is positioned above the table with the metal pot visible to the left and the blue towel to the right. No objects have been moved yet as the gripper remains open. The robot needs to move its end-effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 6 cm, move right 15 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825567364692688, + 0.13047806918621063, + 0.02414831891655922, + -3.0941734313964844, + -0.07742780447006226, + 0.3677699565887451 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal cup": [ + 232, + 201, + 419, + 387 + ], + "blue cloth": [ + 524, + 427, + 839, + 761 + ], + "toy banana": [ + 499, + 365, + 599, + 553 + ], + "toy mushroom": [ + 138, + 429, + 327, + 600 + ], + "coffee maker": [ + 272, + 7, + 488, + 350 + ], + "toy stove": [ + 675, + 174, + 996, + 992 + ], + "toy microwave": [ + 287, + 3, + 678, + 236 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the metal pot on the wooden table. The gripper is currently open and aligned with the pot's rim, ready to engage. The next action is to close the gripper fingers to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 6 cm, move right 15 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3892041742801666, + 0.13284938037395477, + 0.017443476244807243, + -3.0966875553131104, + -0.07428672164678574, + 0.37270140647888184 + ], + "gripper_value": 0.8998980522155762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the metal pot on the wooden table. The gripper is currently open and aligned with the pot's rim, ready to engage. The next action is to close the gripper fingers to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move right 15 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 3 cm, move right 10 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38906753063201904, + 0.13280563056468964, + 0.016812844201922417, + -3.0971508026123047, + -0.07309865951538086, + 0.3803769648075104 + ], + "gripper_value": 0.6049063205718994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "close gripper on pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the metal pot on the wooden table. The gripper is currently open and aligned with the pot's rim, ready to engage. The next action is to close the gripper fingers to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move right 15 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 11 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3895915448665619, + 0.13274158537387848, + 0.016836291179060936, + -3.0990400314331055, + -0.07618295401334763, + 0.3841375410556793 + ], + "gripper_value": 0.3142010271549225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the metal pot on the wooden table. The gripper is currently open and aligned with the pot's rim, ready to engage. The next action is to close the gripper fingers to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 15 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 11 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3871716856956482, + 0.1321350783109665, + 0.014657504856586456, + -3.097937822341919, + -0.07332329452037811, + 0.38591858744621277 + ], + "gripper_value": 0.13995102047920227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot end-effector is positioned directly above the metal pot on the wooden table. The gripper is currently open and aligned with the pot's rim, ready to engage. The next action is to close the gripper fingers to securely grasp the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 15 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3849183917045593, + 0.13243021070957184, + 0.021239597350358963, + -3.080815315246582, + -0.08600097894668579, + 0.38023218512535095 + ], + "gripper_value": 0.08294149488210678 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, as indicated by the closed gripper and segment-level evidence. The current scene shows the pot is being held above the counter, having completed the initial lift. The next action is to transport the pot horizontally towards the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 15 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37981483340263367, + 0.12325253337621689, + 0.04561777040362358, + -3.0365636348724365, + -0.11492698639631271, + 0.31875869631767273 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, as indicated by the closed gripper and segment-level evidence. The current scene shows the pot is being held above the counter, having completed the initial lift. The next action is to transport the pot horizontally towards the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 14 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3740568161010742, + 0.08230365812778473, + 0.09330666810274124, + -3.033304452896118, + -0.1701461374759674, + 0.19257889688014984 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, as indicated by the closed gripper and segment-level evidence. The current scene shows the pot is being held above the counter, having completed the initial lift. The next action is to transport the pot horizontally towards the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 10 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3520335555076599, + 0.03240169957280159, + 0.10781595855951309, + -3.0661745071411133, + -0.17001836001873016, + 0.05417237430810928 + ], + "gripper_value": 0.07821663469076157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot, as indicated by the closed gripper and segment-level evidence. The current scene shows the pot is being held above the counter, having completed the initial lift. The next action is to transport the pot horizontally towards the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3267189860343933, + -0.014180348254740238, + 0.09612081944942474, + -3.0836546421051025, + -0.13827747106552124, + -0.08391912281513214 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The robot has successfully grasped the metal pot, as indicated by the closed gripper and segment-level evidence. The current scene shows the pot is being held above the counter, having completed the initial lift. The next action is to transport the pot horizontally towards the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082939088344574, + -0.055730994790792465, + 0.07923588901758194, + -3.084129571914673, + -0.11560609191656113, + -0.17134200036525726 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The robot has successfully grasped the metal pot, as indicated by the closed gripper and segment-level evidence. The current scene shows the pot is being held above the counter, having completed the initial lift. The next action is to transport the pot horizontally towards the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 5 cm, rotate counterclockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open; then move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30000680685043335, + -0.11205699294805527, + 0.06189589574933052, + -3.0800349712371826, + -0.13019466400146484, + -0.29354503750801086 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The robot has successfully grasped the metal pot, as indicated by the closed gripper and segment-level evidence. The current scene shows the pot is being held above the counter, having completed the initial lift. The next action is to transport the pot horizontally towards the blue towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, open gripper; then move up 4 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.305826336145401, + -0.11952249705791473, + 0.04600052535533905, + -3.0788791179656982, + -0.14749518036842346, + -0.312375009059906 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal cup": [ + 556, + 383, + 776, + 681 + ], + "tomato soup": [ + 645, + 84, + 786, + 285 + ], + "toy microwave": [ + 284, + 2, + 667, + 235 + ], + "toy mushroom": [ + 138, + 429, + 328, + 599 + ], + "toy banana": [ + 498, + 365, + 598, + 553 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel. The robot has successfully lifted and transported the pot to the target location. The next action is to lower the pot gently until it makes contact with the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 4 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128848671913147, + -0.1205732673406601, + 0.030878620222210884, + -3.074409008026123, + -0.13952277600765228, + -0.32099971175193787 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel. The robot has successfully lifted and transported the pot to the target location. The next action is to lower the pot gently until it makes contact with the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move up 4 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3169742226600647, + -0.11234290897846222, + 0.02792966179549694, + -3.0781586170196533, + -0.14973625540733337, + -0.27749568223953247 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel. The robot has successfully lifted and transported the pot to the target location. The next action is to lower the pot gently until it makes contact with the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 4 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31736844778060913, + -0.10665097087621689, + 0.024915417656302452, + -3.07749605178833, + -0.14136067032814026, + -0.2691275179386139 + ], + "gripper_value": 0.10553344339132309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel. The robot has successfully lifted and transported the pot to the target location. The next action is to lower the pot gently until it makes contact with the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 4 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31349074840545654, + -0.10646314173936844, + 0.023552220314741135, + -3.0827701091766357, + -0.12147673219442368, + -0.2733272910118103 + ], + "gripper_value": 0.2854207158088684 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal cup": [ + 530, + 401, + 725, + 668 + ], + "toy microwave": [ + 283, + 2, + 650, + 239 + ], + "tomato soup": [ + 645, + 181, + 750, + 283 + ], + "coffee maker": [ + 595, + 5, + 916, + 662 + ], + "toy mushroom": [ + 138, + 430, + 327, + 599 + ], + "toy banana": [ + 500, + 365, + 599, + 552 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lower pot onto towel", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the blue towel. The robot has successfully lifted and transported the pot to the target location. The next action is to lower the pot gently until it makes contact with the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 4 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31343793869018555, + -0.10848981142044067, + 0.024910995736718178, + -3.104830503463745, + -0.12591971457004547, + -0.26989519596099854 + ], + "gripper_value": 0.5660048723220825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is currently resting on the blue towel, indicating the placement action is complete. The gripper is still in contact with the pot's handle, as shown by the gripper value and image. The next step is to open the gripper to release the pot and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3143335282802582, + -0.10674883425235748, + 0.037183403968811035, + -3.119504928588867, + -0.14551898837089539, + -0.26101061701774597 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is currently resting on the blue towel, indicating the placement action is complete. The gripper is still in contact with the pot's handle, as shown by the gripper value and image. The next step is to open the gripper to release the pot and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.31438037753105164, + -0.10722451657056808, + 0.0644058808684349, + 3.1252994537353516, + -0.16951622068881989, + -0.21977292001247406 + ], + "gripper_value": 1.0265995264053345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot is currently resting on the blue towel, indicating the placement action is complete. The gripper is still in contact with the pot's handle, as shown by the gripper value and image. The next step is to open the gripper to release the pot and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31638216972351074, + -0.09797099977731705, + 0.11152943968772888, + 3.0717861652374268, + -0.1801205277442932, + -0.07697605341672897 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot is successfully placed on the blue towel, and the gripper is open and clear of the pot. The robot has completed the placement and is now retreating from the scene. The next action is to continue moving the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 29, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32011592388153076, + -0.06175686791539192, + 0.12888672947883606, + 3.135810375213623, + -0.1391230672597885, + 0.14800004661083221 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the metal pot and place it on the blue towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "close gripper on pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "lower pot onto towel" + }, + { + "id": 5, + "subtask": "release pot" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot is successfully placed on the blue towel, and the gripper is open and clear of the pot. The robot has completed the placement and is now retreating from the scene. The next action is to continue moving the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000757_ecot.json b/cot/chunk-0000/episode_0000757_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a30807a9088760f5a6de7e6758fc00d005cef406 --- /dev/null +++ b/cot/chunk-0000/episode_0000757_ecot.json @@ -0,0 +1,2180 @@ +{ + "task_name": "episode_0000757", + "episode_json": "json/chunk-0000/episode_0000757.json", + "video_path": "videos/chunk-0000/image_0/episode_0000757.mp4", + "instruction": "Move the red object to the top left side of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000757.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.27974027395248413, + "std": 0.12267161905765533, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.27974, std=0.12267, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 23 + ], + [ + 3, + 24, + 28 + ], + [ + 4, + 29, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red object\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from initial position toward the red object near the cloth edge without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp red object\", \"start\": 6, \"end\": 23, \"planning\": \"Close gripper around red object and lift it slightly while adjusting pose for transport, confirmed by gripper closure and motion.\"},\n {\"id\": 3, \"name\": \"transport to target zone\", \"start\": 24, \"end\": 28, \"planning\": \"Carry the grasped red object over the cloth toward the top-left region, maintaining grip without further closing.\"},\n {\"id\": 4, \"name\": \"release red object\", \"start\": 29, \"end\": 33, \"planning\": \"Open gripper to drop the red object onto the top-left area of the cloth, then retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Approach the red object, grasp it securely, transport it over the cloth to the top-left zone, and release it there to fulfill the instruction.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2 and 4, supporting 'grasp' and 'release' terminology. Segment 3 shows no further closing but maintains grip during transport. All frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red object", + "start": 0, + "end": 5, + "planning": "Move the end-effector from initial position toward the red object near the cloth edge without closing gripper." + }, + { + "id": 2, + "name": "grasp red object", + "start": 6, + "end": 23, + "planning": "Close gripper around red object and lift it slightly while adjusting pose for transport, confirmed by gripper closure and motion." + }, + { + "id": 3, + "name": "transport to target zone", + "start": 24, + "end": 28, + "planning": "Carry the grasped red object over the cloth toward the top-left region, maintaining grip without further closing." + }, + { + "id": 4, + "name": "release red object", + "start": 29, + "end": 33, + "planning": "Open gripper to drop the red object onto the top-left area of the cloth, then retreat slightly to complete placement." + } + ], + "global_plan": "Approach the red object, grasp it securely, transport it over the cloth to the top-left zone, and release it there to fulfill the instruction.", + "notes": "Gripper evidence confirms meaningful closing in segments 2 and 4, supporting 'grasp' and 'release' terminology. Segment 3 shows no further closing but maintains grip during transport. All frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the red object to the top left side of the cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30207476019859314, + 0.01485645305365324, + 0.1745046079158783, + 3.031060218811035, + -0.03553248941898346, + 0.7843270301818848 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible to the left of the blue cloth. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 17 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 8 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30263611674308777, + 0.014430462382733822, + 0.1655280888080597, + 3.047656536102295, + -0.011771569959819317, + 0.7798774838447571 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the table with the red object visible to the left of the blue cloth. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 17 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 8 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2983711361885071, + 0.03539449721574783, + 0.15673375129699707, + 3.0494892597198486, + -0.006922696251422167, + 0.7921614646911621 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 15 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 8 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28862160444259644, + 0.06857699155807495, + 0.1446133852005005, + 3.0658819675445557, + -0.01780177652835846, + 0.8285794854164124 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 8 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754612863063812, + 0.10179712623357773, + 0.13243962824344635, + 3.073530912399292, + -0.03348216041922569, + 0.8387253880500793 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "robotic vehicle": [ + 58, + 5, + 418, + 439 + ], + "blue cylinder": [ + 744, + 519, + 834, + 630 + ], + "wooden panel": [ + 704, + 71, + 996, + 535 + ], + "blue mat": [ + 9, + 346, + 703, + 994 + ], + "white object": [ + 851, + 489, + 995, + 579 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 8 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25756824016571045, + 0.15006990730762482, + 0.11872809380292892, + 3.0562686920166016, + -0.09621205180883408, + 0.8866685628890991 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move forward 3 cm, move left 8 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.257339209318161, + 0.18748392164707184, + 0.11612634360790253, + 3.0251803398132324, + -0.1715342402458191, + 0.934599757194519 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26000019907951355, + 0.22550030052661896, + 0.10942532122135162, + 3.02413010597229, + -0.17916275560855865, + 1.0371289253234863 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27044814825057983, + 0.24426962435245514, + 0.1008555069565773, + 3.0337350368499756, + -0.17403295636177063, + 1.0998766422271729 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.270012229681015, + 0.25882092118263245, + 0.09529028832912445, + 3.038719415664673, + -0.18426339328289032, + 1.1541049480438232 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27115345001220703, + 0.2652795612812042, + 0.09361115097999573, + 3.031832218170166, + -0.21100012958049774, + 1.1723477840423584 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754691243171692, + 0.2689005732536316, + 0.08776681870222092, + 3.020672559738159, + -0.22937169671058655, + 1.1876925230026245 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789701521396637, + 0.2697174847126007, + 0.08511843532323837, + 3.0054516792297363, + -0.2356320023536682, + 1.2118805646896362 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835899591445923, + 0.2670723497867584, + 0.08286300301551819, + 2.996999502182007, + -0.2412058711051941, + 1.2236242294311523 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot is positioned above the blue cloth with the red object visible to the left. The gripper is open and has not moved significantly, indicating no grasp has occurred yet. The robot needs to continue moving towards the red object to align for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28454285860061646, + 0.26693928241729736, + 0.06948170065879822, + 3.0107624530792236, + -0.24397099018096924, + 1.230095386505127 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cylinder": [ + 744, + 519, + 833, + 630 + ], + "white object": [ + 851, + 488, + 995, + 579 + ], + "blue mat": [ + 10, + 345, + 703, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2871735095977783, + 0.2672143876552582, + 0.06893166899681091, + 2.9957778453826904, + -0.2568879723548889, + 1.256670355796814 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29276221990585327, + 0.26463159918785095, + 0.06824727356433868, + 2.9866816997528076, + -0.2765836715698242, + 1.2665773630142212 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move right 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952701151371002, + 0.26070013642311096, + 0.05706248804926872, + 3.015516996383667, + -0.2722362279891968, + 1.249538540840149 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 5 cm, move right 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2950843274593353, + 0.26073023676872253, + 0.05372876673936844, + 3.0255653858184814, + -0.28265634179115295, + 1.2511824369430542 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29570919275283813, + 0.2591360807418823, + 0.04833658039569855, + 3.039027452468872, + -0.29009366035461426, + 1.2440807819366455 + ], + "gripper_value": 0.9311676621437073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29662346839904785, + 0.25761693716049194, + 0.04632754996418953, + 3.028057098388672, + -0.29234880208969116, + 1.2462012767791748 + ], + "gripper_value": 0.7349185347557068 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29482752084732056, + 0.2552838623523712, + 0.045568328350782394, + 3.029951810836792, + -0.2872209846973419, + 1.2356524467468262 + ], + "gripper_value": 0.7270174622535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29315903782844543, + 0.25069791078567505, + 0.04770437628030777, + 3.0283472537994385, + -0.2752993702888489, + 1.2072181701660156 + ], + "gripper_value": 0.7270174622535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982899844646454, + 0.23850150406360626, + 0.05986854061484337, + 3.0206897258758545, + -0.29060637950897217, + 1.1767652034759521 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31191641092300415, + 0.20884810388088226, + 0.08229329437017441, + 3.0357086658477783, + -0.3831337094306946, + 1.1200658082962036 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "robotic vehicle": [ + 20, + 8, + 256, + 442 + ], + "blue cylinder": [ + 744, + 518, + 833, + 630 + ], + "blue mat": [ + 10, + 343, + 704, + 994 + ], + "white object": [ + 850, + 488, + 995, + 579 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32711923122406006, + 0.1831636279821396, + 0.09551204741001129, + 3.0262186527252197, + -0.4207915961742401, + 1.0974379777908325 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "robotic vehicle": [ + 4, + 4, + 312, + 421 + ], + "blue cylinder": [ + 744, + 518, + 833, + 630 + ], + "white object": [ + 851, + 488, + 995, + 579 + ], + "blue mat": [ + 9, + 344, + 704, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot has approached the red object on the table, positioning the end-effector above it. Although the segment-level gripper evidence suggests a grasp occurred, the current frame shows the gripper is fully open and not yet in contact with the object. The next action is to close the gripper to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, tilt forward 20 degrees, rotate clockwise 30 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3446139097213745, + 0.1710459291934967, + 0.09441007673740387, + 2.987833023071289, + -0.3589803874492645, + 1.1404218673706055 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently holding the red object and moving it above the blue cloth toward the top-left target zone. The gripper signal remains stable, confirming the object is securely grasped during transport. The next action is to continue moving the arm to position the object directly over the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3629886507987976, + 0.16827471554279327, + 0.08100797235965729, + 2.9435579776763916, + -0.26776596903800964, + 1.2179992198944092 + ], + "gripper_value": 0.7220669984817505 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently holding the red object and moving it above the blue cloth toward the top-left target zone. The gripper signal remains stable, confirming the object is securely grasped during transport. The next action is to continue moving the arm to position the object directly over the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36671364307403564, + 0.17556273937225342, + 0.07165681570768356, + 2.857797384262085, + -0.16202569007873535, + 1.3723572492599487 + ], + "gripper_value": 0.7210758328437805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "transport to target zone", + "subtask_reasoning": "The robot is currently holding the red object and moving it above the blue cloth toward the top-left target zone. The gripper signal remains stable, confirming the object is securely grasped during transport. The next action is to continue moving the arm to position the object directly over the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 24, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.365358829498291, + 0.18408580124378204, + 0.06280401349067688, + 2.799863338470459, + -0.0663239061832428, + 1.5027053356170654 + ], + "gripper_value": 0.778810441493988 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The robot is currently holding the red object and moving it above the blue cloth toward the top-left target zone. The gripper signal remains stable, confirming the object is securely grasped during transport. The next action is to continue moving the arm to position the object directly over the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626176714897156, + 0.17779546976089478, + 0.05783224478363991, + 2.791654109954834, + -0.006342793814837933, + 1.5425409078598022 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The robot is currently holding the red object and moving it above the blue cloth toward the top-left target zone. The gripper signal remains stable, confirming the object is securely grasped during transport. The next action is to continue moving the arm to position the object directly over the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36156806349754333, + 0.17194050550460815, + 0.05557795241475105, + 2.784935712814331, + 0.030214788392186165, + 1.531760334968567 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently held by the gripper and positioned directly above the top-left area of the blue cloth. The gripper signal indicates an open state, confirming the object has not yet been released. The next action is to lower the end-effector slightly and open the gripper to place the object onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613584041595459, + 0.16660937666893005, + 0.06161919981241226, + 2.800637722015381, + 0.05266648158431053, + 1.4575587511062622 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently held by the gripper and positioned directly above the top-left area of the blue cloth. The gripper signal indicates an open state, confirming the object has not yet been released. The next action is to lower the end-effector slightly and open the gripper to place the object onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3725099265575409, + 0.16143456101417542, + 0.09406358748674393, + 2.9045968055725098, + -0.0310907494276762, + 1.220149040222168 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object to the top left side of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "transport to target zone" + }, + { + "id": 4, + "subtask": "release red object" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently held by the gripper and positioned directly above the top-left area of the blue cloth. The gripper signal indicates an open state, confirming the object has not yet been released. The next action is to lower the end-effector slightly and open the gripper to place the object onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000758_ecot.json b/cot/chunk-0000/episode_0000758_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9dedd4ea86850f80f6a958307ba5bcdbbfbbc49f --- /dev/null +++ b/cot/chunk-0000/episode_0000758_ecot.json @@ -0,0 +1,2390 @@ +{ + "task_name": "episode_0000758", + "episode_json": "json/chunk-0000/episode_0000758.json", + "video_path": "videos/chunk-0000/image_0/episode_0000758.mp4", + "instruction": "Topple metal pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000758.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9423704147338867, + "std": 0.4329376220703125, + "delta_total": -0.005435943603515625, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94237, std=0.43294, total_delta=-0.00544). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 30, + 30, + 30, + 30, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 10 + ], + [ + 3, + 11, + 12 + ], + [ + 4, + 13, + 29 + ], + [ + 5, + 30, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the metal pot without grasping, as gripper remains fully open throughout this phase.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 11, \"end\": 12, \"planning\": \"Close gripper around pot handle; segment shows meaningful closing and image confirms contact with handle.\"},\n {\"id\": 3, \"name\": \"lift and tilt pot\", \"start\": 13, \"end\": 29, \"planning\": \"Lift pot by handle and tilt it to topple contents; gripper maintains hold while executing controlled motion to倾倒.\"},\n {\"id\": 4, \"name\": \"release pot\", \"start\": 30, \"end\": 32, \"planning\": \"Open gripper to release pot after tilting; segment shows significant opening and image confirms disengagement.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 33, \"end\": 34, \"planning\": \"Withdraw end-effector away from pot and tray area after releasing, completing the toppling task.\"}\n ],\n \"global_plan\": \"Approach the metal pot, grasp its handle, lift and tilt it to topple the cardboard fence inside the tray, then release and retreat.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases: no grasp before frame 11, active manipulation during frames 13-29, and clear release starting at frame 30. Segment 3 (frames 11-12) is merged into grasp initiation based on gripper delta and visual confirmation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the metal pot without grasping, as gripper remains fully open throughout this phase." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 11, + "end": 12, + "planning": "Close gripper around pot handle; segment shows meaningful closing and image confirms contact with handle." + }, + { + "id": 3, + "name": "lift and tilt pot", + "start": 13, + "end": 29, + "planning": "Lift pot by handle and tilt it to topple contents; gripper maintains hold while executing controlled motion to倾倒." + }, + { + "id": 4, + "name": "release pot", + "start": 30, + "end": 32, + "planning": "Open gripper to release pot after tilting; segment shows significant opening and image confirms disengagement." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 33, + "end": 34, + "planning": "Withdraw end-effector away from pot and tray area after releasing, completing the toppling task." + } + ], + "global_plan": "Approach the metal pot, grasp its handle, lift and tilt it to topple the cardboard fence inside the tray, then release and retreat.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases: no grasp before frame 11, active manipulation during frames 13-29, and clear release starting at frame 30. Segment 3 (frames 11-12) is merged into grasp initiation based on gripper delta and visual confirmation." + } + }, + "episode_goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24955244362354279, + 0.14860223233699799, + 0.07877634465694427, + -3.0970842838287354, + -0.18204280734062195, + 0.2568955719470978 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray with the metal pot visible inside. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2456851601600647, + 0.1451050043106079, + 0.0728132426738739, + -3.1115071773529053, + -0.1525069922208786, + 0.26909199357032776 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray with the metal pot visible inside. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move down 2 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2448832094669342, + 0.12481304258108139, + 0.08612657338380814, + 3.0964646339416504, + -0.11607294529676437, + 0.3235161304473877 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray with the metal pot visible inside. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24516482651233673, + 0.09919609874486923, + 0.10531733185052872, + 3.0268025398254395, + -0.10400087386369705, + 0.3914101719856262 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray with the metal pot visible inside. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24829669296741486, + 0.06902261823415756, + 0.11819863319396973, + 2.994943141937256, + -0.14460541307926178, + 0.4721757173538208 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray with the metal pot visible inside. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25360432267189026, + 0.03756343945860863, + 0.11823328584432602, + 2.9881083965301514, + -0.15980443358421326, + 0.563848078250885 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 451, + 340, + 705, + 695 + ], + "banana": [ + 267, + 443, + 415, + 575 + ], + "tomato": [ + 343, + 494, + 446, + 634 + ], + "wooden tray": [ + 30, + 301, + 771, + 957 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray, with the metal pot visible on the right side of the wooden surface. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620985209941864, + 0.015364089980721474, + 0.11226668208837509, + 3.009350299835205, + -0.17525161802768707, + 0.6204733848571777 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray, with the metal pot visible on the right side of the wooden surface. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, tilt left 10 degrees, close gripper; then keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26650041341781616, + 0.007263506762683392, + 0.09414172172546387, + 3.06423020362854, + -0.16082622110843658, + 0.6451377272605896 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray, with the metal pot visible on the right side of the wooden surface. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27137571573257446, + 0.009532419964671135, + 0.0810372605919838, + 3.093679666519165, + -0.17586173117160797, + 0.6475179195404053 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray, with the metal pot visible on the right side of the wooden surface. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then keep gripper closed; then move back 2 cm, move right 2 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27145272493362427, + 0.010019729845225811, + 0.06759383529424667, + 3.1177804470062256, + -0.14571082592010498, + 0.6434476375579834 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray, with the metal pot visible on the right side of the wooden surface. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then keep gripper closed; then move back 2 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27106690406799316, + 0.010522031225264072, + 0.06260479986667633, + 3.1328256130218506, + -0.13472379744052887, + 0.6446428298950195 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the tray, with the metal pot visible on the right side of the wooden surface. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move back 1 cm, move right 4 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27338355779647827, + 0.009757413528859615, + 0.051037732511758804, + -3.1269330978393555, + -0.1160963699221611, + 0.6488140225410461 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 5 cm, move up 6 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27544477581977844, + 0.008889558725059032, + 0.052470289170742035, + -3.125791549682617, + -0.12647588551044464, + 0.6498217582702637 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 6 cm, move up 6 cm, tilt left 30 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27628186345100403, + 0.007444597780704498, + 0.052366383373737335, + -3.13118314743042, + -0.12645745277404785, + 0.6529201865196228 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, tilt left 30 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2773389220237732, + 0.0076719243079423904, + 0.0549989715218544, + -3.124976873397827, + -0.1288769394159317, + 0.6566785573959351 + ], + "gripper_value": 0.17514994740486145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 5 cm, tilt left 40 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801054120063782, + 0.00638523930683732, + 0.05531489849090576, + -3.132462501525879, + -0.1442156285047531, + 0.644716739654541 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 267, + 443, + 416, + 574 + ], + "tomato": [ + 343, + 494, + 446, + 630 + ], + "pot": [ + 470, + 307, + 699, + 652 + ], + "wooden tray": [ + 20, + 226, + 767, + 957 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 4 cm, tilt left 40 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764080762863159, + 3.02400512737222e-05, + 0.055653344839811325, + -3.116335153579712, + -0.1290208399295807, + 0.6678318977355957 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 3 cm, tilt left 40 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689325213432312, + -0.008056226186454296, + 0.06766451150178909, + -3.0620903968811035, + -0.15142446756362915, + 0.7119627594947815 + ], + "gripper_value": 0.056741900742053986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, tilt left 40 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590422034263611, + -0.014172819443047047, + 0.08551862090826035, + -3.0281217098236084, + -0.18439322710037231, + 0.73936527967453 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, tilt left 30 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25936758518218994, + -0.0208017248660326, + 0.09553510695695877, + -2.994253396987915, + -0.2374952733516693, + 0.7708418369293213 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 3 cm, tilt left 30 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657490670681, + -0.02924101985991001, + 0.10854680836200714, + -2.9460055828094482, + -0.34014055132865906, + 0.8589106202125549 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot arm is positioned above the metal pot with the gripper open and aligned near the handle. 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The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 4 cm, tilt left 20 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683475613594055, + -0.0404033362865448, + 0.11092834919691086, + -2.871875286102295, + -0.4559211730957031, + 0.9167060852050781 + ], + "gripper_value": 0.05952305346727371 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden tray": [ + 20, + 239, + 788, + 966 + ], + "tomato": [ + 343, + 494, + 448, + 637 + ], + "banana": [ + 267, + 443, + 416, + 573 + ], + "pot": [ + 435, + 298, + 718, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and is currently lifting and tilting it above the tray. 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The next action is to continue tilting the pot to make contact with and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689702808856964, + -0.05004940181970596, + 0.11352556943893433, + -2.7265703678131104, + -0.48990559577941895, + 0.9243667721748352 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and is currently lifting and tilting it above the tray. The pot is positioned to push against the cardboard fence. The next action is to continue tilting the pot to make contact with and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.26313352584838867, + -0.052051421254873276, + 0.11143120378255844, + -2.585845470428467, + -0.5679699182510376, + 0.8735765814781189 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and is currently lifting and tilting it above the tray. The pot is positioned to push against the cardboard fence. The next action is to continue tilting the pot to make contact with and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2638189196586609, + -0.04736561328172684, + 0.10548766702413559, + -2.478318691253662, + -0.6505345702171326, + 0.8191697597503662 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and is currently lifting and tilting it above the tray. 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The next action is to continue tilting the pot to make contact with and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26495733857154846, + -0.043411508202552795, + 0.09666603803634644, + -2.416781425476074, + -0.6571407318115234, + 0.7851890325546265 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and is currently lifting and tilting it above the tray. 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The next action is to continue tilting the pot to make contact with and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26838770508766174, + -0.057437263429164886, + 0.07032091915607452, + -2.479673385620117, + -0.5700190663337708, + 0.7711979746818542 + ], + "gripper_value": 0.4737623631954193 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and tilt pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and is currently lifting and tilting it above the tray. The pot is positioned to push against the cardboard fence. The next action is to continue tilting the pot to make contact with and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26552730798721313, + -0.06716553866863251, + 0.06983544677495956, + -2.621849298477173, + -0.42965105175971985, + 0.8148292303085327 + ], + "gripper_value": 0.7652681469917297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The robot has successfully grasped the metal pot by its handle and is currently lifting and tilting it above the tray. The pot is positioned to push against the cardboard fence. The next action is to continue tilting the pot to make contact with and topple the fence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26313382387161255, + -0.0801602229475975, + 0.08647148311138153, + -2.7627274990081787, + -0.3211818039417267, + 0.8595291376113892 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is currently held above the tray, having been lifted and tilted to topple the cardboard fence. The gripper is open (value ~0.98), indicating the pot has been released or is in the process of being released. The next action is to confirm release and retreat the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572323679924011, + -0.08740139752626419, + 0.10060503333806992, + -2.879629373550415, + -0.19668132066726685, + 0.8880834579467773 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release pot", + "subtask_reasoning": "The metal pot is currently held above the tray, having been lifted and tilted to topple the cardboard fence. The gripper is open (value ~0.98), indicating the pot has been released or is in the process of being released. The next action is to confirm release and retreat the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25095006823539734, + -0.0879720002412796, + 0.11939345300197601, + -3.0055458545684814, + -0.11703323572874069, + 0.8556421995162964 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 268, + 444, + 408, + 573 + ], + "wooden tray": [ + 22, + 229, + 762, + 957 + ], + "pot": [ + 399, + 313, + 654, + 662 + ], + "tomato": [ + 324, + 497, + 429, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot has been toppled against the cardboard fence, completing the main objective. The gripper is open and the arm is positioned above the tray, indicating the pot has been released. The next action is to retreat the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2479405701160431, + -0.08231904357671738, + 0.14275255799293518, + -3.1299500465393066, + -0.07172232866287231, + 0.8238425254821777 + ], + "gripper_value": 0.9907060265541077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot and push it against the cardboard fence to topple the fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and tilt pot" + }, + { + "id": 4, + "subtask": "release pot" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The metal pot has been toppled against the cardboard fence, completing the main objective. The gripper is open and the arm is positioned above the tray, indicating the pot has been released. The next action is to retreat the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000759_ecot.json b/cot/chunk-0000/episode_0000759_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..aba3420d3cd5956ab7bcae5bdfa32e2e94195741 --- /dev/null +++ b/cot/chunk-0000/episode_0000759_ecot.json @@ -0,0 +1,2784 @@ +{ + "task_name": "episode_0000759", + "episode_json": "json/chunk-0000/episode_0000759.json", + "video_path": "videos/chunk-0000/image_0/episode_0000759.mp4", + "instruction": "Move knife to left of bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000759.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5651012659072876, + "std": 0.24962067604064941, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56510, std=0.24962, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 318, + 318, + 318, + 118, + 118, + 118, + 118, + 118, + 118, + 218, + 218, + 229, + 229, + 229, + 229, + 229, + 129 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 17 + ], + [ + 3, + 18, + 20 + ], + [ + 4, + 21, + 26 + ], + [ + 5, + 27, + 28 + ], + [ + 6, + 29, + 33 + ], + [ + 7, + 34, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the yellow knife on the table without grasping.\"},\n {\"id\": 2, \"name\": \"close gripper on knife\", \"start\": 9, \"end\": 17, \"planning\": \"Close gripper around the knife handle to establish secure contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition knife\", \"start\": 18, \"end\": 20, \"planning\": \"Lift the knife slightly and begin moving it leftward while maintaining grip.\"},\n {\"id\": 4, \"name\": \"translate knife left\", \"start\": 21, \"end\": 26, \"planning\": \"Continue sliding the knife horizontally to the left of the bowl.\"},\n {\"id\": 5, \"name\": \"fine adjust position\", \"start\": 27, \"end\": 28, \"planning\": \"Make small positional adjustments to align knife precisely left of bowl.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 29, \"end\": 33, \"planning\": \"Open gripper to release knife and move end-effector away from the object.\"},\n {\"id\": 7, \"name\": \"final retreat\", \"start\": 34, \"end\": 34, \"planning\": \"Complete motion by retreating to a safe home position above the table.\"}\n ],\n \"global_plan\": \"Approach the knife, grasp it securely, lift and translate it left of the bowl, then release and retreat to complete the task.\",\n \"notes\": \"Gripper closure occurs in segment 2 (frames 9-17), enabling grasp-based actions thereafter. Segments 1, 3, 5, and 7 show no meaningful closing — descriptions avoid 'grasp' unless supported by prior closure. Motion is continuous and covers all frames 0–34.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the yellow knife on the table without grasping." + }, + { + "id": 2, + "name": "close gripper on knife", + "start": 9, + "end": 17, + "planning": "Close gripper around the knife handle to establish secure contact." + }, + { + "id": 3, + "name": "lift and reposition knife", + "start": 18, + "end": 20, + "planning": "Lift the knife slightly and begin moving it leftward while maintaining grip." + }, + { + "id": 4, + "name": "translate knife left", + "start": 21, + "end": 26, + "planning": "Continue sliding the knife horizontally to the left of the bowl." + }, + { + "id": 5, + "name": "fine adjust position", + "start": 27, + "end": 28, + "planning": "Make small positional adjustments to align knife precisely left of bowl." + }, + { + "id": 6, + "name": "release and retreat", + "start": 29, + "end": 33, + "planning": "Open gripper to release knife and move end-effector away from the object." + }, + { + "id": 7, + "name": "final retreat", + "start": 34, + "end": 34, + "planning": "Complete motion by retreating to a safe home position above the table." + } + ], + "global_plan": "Approach the knife, grasp it securely, lift and translate it left of the bowl, then release and retreat to complete the task.", + "notes": "Gripper closure occurs in segment 2 (frames 9-17), enabling grasp-based actions thereafter. Segments 1, 3, 5, and 7 show no meaningful closing — descriptions avoid 'grasp' unless supported by prior closure. Motion is continuous and covers all frames 0–34." + } + }, + "episode_goal": "Move the knife to the left of the bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2899647355079651, + 0.003554426832124591, + 0.10217802226543427, + 3.1203978061676025, + -0.11237605661153793, + 0.013167978264391422 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 7 cm, rotate clockwise 30 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.288900762796402, + 0.002907178830355406, + 0.09313555806875229, + 3.115819215774536, + -0.08323320746421814, + 0.017165841534733772 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, move down 7 cm, rotate clockwise 30 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30095162987709045, + 0.008229052647948265, + 0.08723172545433044, + 3.083606243133545, + -0.09172173589468002, + 0.07961470633745193 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32698854804039, + 0.025972919538617134, + 0.08446866273880005, + 3.064182996749878, + -0.12488824874162674, + 0.1881100982427597 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3566425144672394, + 0.05931062623858452, + 0.07032933831214905, + 3.0383574962615967, + -0.11139055341482162, + 0.3481422960758209 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626634180545807, + 0.08992332965135574, + 0.05523817613720894, + 3.0619585514068604, + -0.10029631108045578, + 0.4534420371055603 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 614, + 287, + 869, + 536 + ], + "metal bowl": [ + 386, + 501, + 748, + 770 + ], + "green vegetable": [ + 505, + 557, + 605, + 747 + ], + "yellow object": [ + 312, + 271, + 396, + 479 + ], + "wooden countertop": [ + 6, + 162, + 942, + 971 + ], + "tomato sauce": [ + 639, + 41, + 784, + 296 + ], + "toy microwave": [ + 445, + 2, + 673, + 238 + ], + "corn": [ + 768, + 129, + 920, + 336 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35277584195137024, + 0.09715279936790466, + 0.044650573283433914, + 3.1139845848083496, + -0.09637386351823807, + 0.4528627097606659 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper open; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33947497606277466, + 0.09589461237192154, + 0.030204882845282555, + 3.1362497806549072, + -0.07547523826360703, + 0.4540679156780243 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3325507938861847, + 0.09582735598087311, + 0.02885245718061924, + 3.1397268772125244, + -0.0890481099486351, + 0.47933053970336914 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 386, + 501, + 748, + 770 + ], + "blue cloth": [ + 614, + 287, + 868, + 536 + ], + "green vegetable": [ + 506, + 557, + 605, + 747 + ], + "toy microwave": [ + 359, + 3, + 672, + 239 + ], + "wooden countertop": [ + 6, + 152, + 939, + 968 + ], + "tomato sauce": [ + 639, + 41, + 785, + 297 + ], + "toy stove": [ + 678, + 176, + 997, + 995 + ], + "corn": [ + 768, + 129, + 920, + 336 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33280685544013977, + 0.09796198457479477, + 0.02809731289744377, + -3.1355648040771484, + -0.10103216022253036, + 0.5035992860794067 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318086862564087, + 0.09862655401229858, + 0.020838990807533264, + -3.1278367042541504, + -0.08492685854434967, + 0.527332067489624 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33244428038597107, + 0.10009676963090897, + 0.02097003161907196, + -3.1228859424591064, + -0.09331357479095459, + 0.5385613441467285 + ], + "gripper_value": 0.8562611937522888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329761028289795, + 0.10149975121021271, + 0.020297236740589142, + -3.118333101272583, + -0.1018071174621582, + 0.549553394317627 + ], + "gripper_value": 0.6460646390914917 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot is positioned above the table with the knife visible to the left and the bowl in the center. No part of the task has been completed yet as the end-effector has not contacted the knife. The gripper is open and the robot needs to move downward and forward to reach the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3328056335449219, + 0.10162182152271271, + 0.016436442732810974, + -3.1129658222198486, + -0.09611023962497711, + 0.5573462843894958 + ], + "gripper_value": 0.529549777507782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow knife on the wooden table. The gripper is currently open and aligned with the knife handle, ready to close. The next action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32988107204437256, + 0.10187701135873795, + 0.013735792599618435, + -3.109858989715576, + -0.0905521959066391, + 0.5814473628997803 + ], + "gripper_value": 0.7467206716537476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow knife on the wooden table. The gripper is currently open and aligned with the knife handle, ready to close. The next action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, close gripper; then move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32922306656837463, + 0.1021018773317337, + 0.01323016919195652, + -3.1028213500976562, + -0.0881546139717102, + 0.5777949690818787 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow knife on the wooden table. The gripper is currently open and aligned with the knife handle, ready to close. The next action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32844939827919006, + 0.10122456401586533, + 0.009869941510260105, + -3.099506378173828, + -0.07364237308502197, + 0.5850965976715088 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow knife on the wooden table. The gripper is currently open and aligned with the knife handle, ready to close. The next action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320954442024231, + 0.09729636460542679, + 0.009778870269656181, + -3.074202537536621, + -0.08035605400800705, + 0.5740041136741638 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "close gripper on knife", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow knife on the wooden table. The gripper is currently open and aligned with the knife handle, ready to close. The next action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 11 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.333416223526001, + 0.09683871269226074, + 0.009970398619771004, + -3.068704843521118, + -0.09006135910749435, + 0.5728951692581177 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow knife on the wooden table. The gripper is currently open and aligned with the knife handle, ready to close. The next action is to close the gripper to grasp the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 11 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3327464759349823, + 0.09593462198972702, + 0.009798891842365265, + -3.07181715965271, + -0.08628029376268387, + 0.5663159489631653 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 11 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32928282022476196, + 0.090267613530159, + 0.010685835964977741, + -3.1056365966796875, + -0.056977394968271255, + 0.5387305617332458 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move back 11 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.33539003133773804, + 0.08711086958646774, + 0.040047742426395416, + 3.0974199771881104, + -0.1020226702094078, + 0.4804401397705078 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "translate knife left", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.332436203956604, + 0.08905690163373947, + 0.06218113377690315, + 3.060291051864624, + -0.13413339853286743, + 0.39085638523101807 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "translate knife left", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078896105289459, + 0.08813318610191345, + 0.06440693885087967, + 3.059485673904419, + -0.10553746670484543, + 0.2687031030654907 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "translate knife left", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move down 1 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27621176838874817, + 0.08170278370380402, + 0.05670430511236191, + 3.059143304824829, + -0.0632031187415123, + 0.19292762875556946 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "translate knife left", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24683557450771332, + 0.08283250778913498, + 0.04695601761341095, + 3.082270383834839, + -0.03694849833846092, + 0.16873455047607422 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 614, + 287, + 868, + 537 + ], + "metal bowl": [ + 386, + 500, + 747, + 770 + ], + "toy microwave": [ + 274, + 2, + 672, + 239 + ], + "green vegetable": [ + 506, + 558, + 605, + 747 + ], + "tomato sauce": [ + 638, + 41, + 783, + 297 + ], + "yellow object": [ + 213, + 454, + 299, + 575 + ], + "wooden countertop": [ + 5, + 136, + 939, + 960 + ], + "corn": [ + 768, + 129, + 920, + 337 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "translate knife left", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23398040235042572, + 0.08072372525930405, + 0.036456398665905, + 3.0972371101379395, + -0.02736828289926052, + 0.16254137456417084 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 614, + 287, + 868, + 537 + ], + "toy microwave": [ + 274, + 2, + 672, + 239 + ], + "green vegetable": [ + 506, + 558, + 605, + 747 + ], + "metal bowl": [ + 386, + 499, + 747, + 770 + ], + "tomato sauce": [ + 638, + 42, + 783, + 297 + ], + "wooden countertop": [ + 5, + 138, + 940, + 961 + ], + "yellow object": [ + 197, + 508, + 281, + 628 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "translate knife left", + "subtask_reasoning": "The knife has been approached and the gripper closed on it, but segment-level evidence shows no meaningful closing motion, suggesting the grasp may not be fully secured. The current frame shows the gripper near the knife but not clearly holding it, so the next action should verify or re-establish a firm grasp before lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23018820583820343, + 0.0766746923327446, + 0.029110897332429886, + -3.139749050140381, + -0.02622157894074917, + 0.12896376848220825 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "fine adjust position", + "subtask_reasoning": "The robot is holding the knife above the table, positioned near the bowl. The gripper signal is stable, indicating the knife is already grasped and the robot is performing a fine positional adjustment. The next action is to slightly shift the knife to the left to finalize its placement relative to the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.23184862732887268, + 0.0777738019824028, + 0.020181627944111824, + -3.107297658920288, + -0.0038487818092107773, + 0.12701405584812164 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "fine adjust position", + "subtask_reasoning": "The robot is holding the knife above the table, positioned near the bowl. The gripper signal is stable, indicating the knife is already grasped and the robot is performing a fine positional adjustment. The next action is to slightly shift the knife to the left to finalize its placement relative to the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23465847969055176, + 0.07733700424432755, + 0.018792608752846718, + -3.0919525623321533, + 0.0011987328762188554, + 0.11365105211734772 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the knife above the table, positioned near the bowl. The gripper signal is stable, indicating the knife is already grasped and the robot is performing a fine positional adjustment. The next action is to slightly shift the knife to the left to finalize its placement relative to the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23354342579841614, + 0.07613100111484528, + 0.015161911956965923, + -3.078627824783325, + 0.018961183726787567, + 0.11109183728694916 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the knife above the table, positioned near the bowl. The gripper signal is stable, indicating the knife is already grasped and the robot is performing a fine positional adjustment. The next action is to slightly shift the knife to the left to finalize its placement relative to the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23327821493148804, + 0.07503455132246017, + 0.0151063846424222, + -3.08541202545166, + 0.021611733362078667, + 0.10709142684936523 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife has been successfully placed to the left of the bowl, and the gripper is fully open (value ~1.0), indicating release is complete. The robot arm remains near the knife but is not in contact. The next action is to retreat the arm away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 29, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2342497706413269, + 0.07364391535520554, + 0.016359485685825348, + -3.096184730529785, + 0.024952221661806107, + 0.10937105119228363 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife has been successfully placed to the left of the bowl, and the gripper is fully open (value ~1.0), indicating release is complete. The robot arm remains near the knife but is not in contact. The next action is to retreat the arm away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.23484914004802704, + 0.06762643158435822, + 0.025524543598294258, + -3.1336026191711426, + 0.020005756989121437, + 0.1015680581331253 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The knife has been successfully placed to the left of the bowl, and the gripper is fully open (value ~1.0), indicating release is complete. The robot arm remains near the knife but is not in contact. The next action is to retreat the arm away from the scene to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 29, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24326947331428528, + 0.06195567175745964, + 0.06398409605026245, + 3.069736957550049, + -0.07621210813522339, + 0.09455838054418564 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "close gripper on knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "translate knife left" + }, + { + "id": 5, + "subtask": "fine adjust position" + }, + { + "id": 6, + "subtask": "release and retreat" + }, + { + "id": 7, + "subtask": "final retreat" + } + ], + "subtask_name": "final retreat", + "subtask_reasoning": "The knife has been successfully placed to the left of the bowl, and the gripper is currently open and elevated above the scene. The robot is in the final retreat phase, moving away from the manipulated objects to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 34, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000761_ecot.json b/cot/chunk-0000/episode_0000761_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1562ed0f87a1aa8164b357911531d8a1b632a3f9 --- /dev/null +++ b/cot/chunk-0000/episode_0000761_ecot.json @@ -0,0 +1,1037 @@ +{ + "task_name": "episode_0000761", + "episode_json": "json/chunk-0000/episode_0000761.json", + "video_path": "videos/chunk-0000/image_0/episode_0000761.mp4", + "instruction": "Put strawberry in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000761.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.2603265643119812, + "std": 0.12589021027088165, + "delta_total": -0.2603265643119812, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.26033, std=0.12589, total_delta=-0.26033). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach strawberry\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the strawberry on the counter while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp strawberry\", \"start\": 5, \"end\": 10, \"planning\": \"Close the gripper around the strawberry and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport to pot\", \"start\": 11, \"end\": 15, \"planning\": \"Lift the grasped strawberry and move it over the pot, maintaining grip without further closing since gripper state is stable.\"}\n ],\n \"global_plan\": \"Approach the strawberry, grasp it securely during frames 5-10, then lift and transport it to position above the pot by frame 15.\",\n \"notes\": \"Gripper closes meaningfully in segment 1 (frames 0-10), allowing 'grasp' terminology. Segment 2 (frames 11-15) shows no gripper change, so actions are described as transport/lift without re-grasping or placing.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach strawberry", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the strawberry on the counter while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp strawberry", + "start": 5, + "end": 10, + "planning": "Close the gripper around the strawberry and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport to pot", + "start": 11, + "end": 15, + "planning": "Lift the grasped strawberry and move it over the pot, maintaining grip without further closing since gripper state is stable." + } + ], + "global_plan": "Approach the strawberry, grasp it securely during frames 5-10, then lift and transport it to position above the pot by frame 15.", + "notes": "Gripper closes meaningfully in segment 1 (frames 0-10), allowing 'grasp' terminology. Segment 2 (frames 11-15) shows no gripper change, so actions are described as transport/lift without re-grasping or placing." + } + }, + "episode_goal": "Place the strawberry into the metal pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24083730578422546, + 0.11562476307153702, + -0.008831832557916641, + -2.9560632705688477, + -0.2546297013759613, + 0.027684088796377182 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned near the cutting board where the strawberry is located, with the gripper open and no contact yet. The subtask of approaching the strawberry is in progress, with the next action being to move the gripper closer to establish contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, keep gripper open; then move back 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23763762414455414, + 0.11386564373970032, + -0.016082890331745148, + -2.9727067947387695, + -0.2389070689678192, + 0.02489122375845909 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned near the cutting board where the strawberry is located, with the gripper open and no contact yet. The subtask of approaching the strawberry is in progress, with the next action being to move the gripper closer to establish contact with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2371239960193634, + 0.1161576360464096, + -0.024295631796121597, + -2.9869797229766846, + -0.23980608582496643, + 0.0266382098197937 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned near the strawberry on the counter, with the gripper open and no contact yet. The subtask involves moving closer to the strawberry to prepare for grasping. The next action should be a small forward movement to align the gripper with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move right 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24190525710582733, + 0.11979804188013077, + -0.03159388154745102, + -2.999207019805908, + -0.24830804765224457, + 0.015168371610343456 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned near the strawberry on the counter, with the gripper open and no contact yet. The subtask involves moving closer to the strawberry to prepare for grasping. The next action should be a small forward movement to align the gripper with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2453441023826599, + 0.1277988851070404, + -0.03919687494635582, + -3.0119125843048096, + -0.2531777024269104, + 0.008684447035193443 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned near the strawberry on the counter, with the gripper open and no contact yet. The subtask involves moving closer to the strawberry to prepare for grasping. The next action should be a small forward movement to align the gripper with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 7 cm, move right 5 cm, move up 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24781757593154907, + 0.1325751692056656, + -0.0472506545484066, + -3.03055477142334, + -0.2579021453857422, + 0.00629937369376421 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned near the strawberry on the counter, with the gripper open and no contact yet. The subtask involves moving closer to the strawberry to prepare for grasping. The next action should be a small forward movement to align the gripper with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 11 cm, move right 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24870769679546356, + 0.1359367072582245, + -0.058718305081129074, + -3.0566844940185547, + -0.266872376203537, + 0.0023016761988401413 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot arm is positioned near the strawberry on the counter, with the gripper open and no contact yet. The subtask involves moving closer to the strawberry to prepare for grasping. The next action should be a small forward movement to align the gripper with the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24948962032794952, + 0.13948580622673035, + -0.06716973334550858, + -3.0746796131134033, + -0.2836798429489136, + 0.013628309592604637 + ], + "gripper_value": 0.8233373761177063 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 371, + 146, + 641, + 450 + ], + "purple mug": [ + 782, + 522, + 963, + 793 + ], + "blue bowl": [ + 831, + 361, + 996, + 576 + ], + "white bottle": [ + 626, + 154, + 719, + 369 + ], + "yellow plate": [ + 48, + 435, + 208, + 589 + ], + "stove": [ + 382, + 338, + 994, + 992 + ], + "blue sponge": [ + 1, + 606, + 110, + 910 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the strawberry on the counter, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543129324913025, + 0.1419200450181961, + -0.06718219071626663, + -3.0847256183624268, + -0.29707837104797363, + 0.04016279801726341 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the strawberry on the counter, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24393072724342346, + 0.13213646411895752, + -0.06149681285023689, + -3.1051108837127686, + -0.2225300520658493, + 0.08412295579910278 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the strawberry on the counter, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 10 cm, tilt left 20 degrees, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23631702363491058, + 0.1301020383834839, + -0.018775824457406998, + -3.007930278778076, + -0.16873414814472198, + 0.10145922005176544 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "grasp strawberry", + "subtask_reasoning": "The robot's end-effector is positioned directly above the strawberry on the counter, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 11 cm, move right 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2291666865348816, + 0.12695161998271942, + 0.03399025276303291, + -2.8438990116119385, + -0.1382150650024414, + 0.09336560219526291 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 372, + 146, + 638, + 450 + ], + "white bottle": [ + 627, + 154, + 719, + 369 + ], + "purple mug": [ + 782, + 522, + 963, + 792 + ], + "yellow plate": [ + 33, + 429, + 208, + 588 + ], + "blue bowl": [ + 831, + 361, + 996, + 576 + ], + "stove": [ + 381, + 337, + 994, + 991 + ], + "blue sponge": [ + 1, + 607, + 109, + 909 + ] + } + } + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "lift and transport to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the strawberry on the counter, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 6 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23394176363945007, + 0.11516489833593369, + 0.0814385637640953, + -2.7171778678894043, + -0.11367419362068176, + 0.04619811847805977 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "lift and transport to pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the strawberry on the counter, having completed the approach phase. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the strawberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26118817925453186, + 0.09682432562112808, + 0.1216026246547699, + -2.6342835426330566, + -0.13149037957191467, + -0.056177522987127304 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "lift and transport to pot", + "subtask_reasoning": "The robot is currently lifting the strawberry and moving it toward the metal pot on the stove. The gripper remains open with no closing evidence, indicating the strawberry has not yet been grasped. The next action should involve positioning the gripper closer to the strawberry to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.303194135427475, + 0.08045287430286407, + 0.1361701786518097, + -2.6264312267303467, + -0.14663192629814148, + -0.18667751550674438 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "lift and transport to pot", + "subtask_reasoning": "The robot is currently lifting the strawberry and moving it toward the metal pot on the stove. The gripper remains open with no closing evidence, indicating the strawberry has not yet been grasped. The next action should involve positioning the gripper closer to the strawberry to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3401792049407959, + 0.07065627723932266, + 0.12875771522521973, + -2.690556526184082, + -0.15447495877742767, + -0.25363755226135254 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the strawberry into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "grasp strawberry" + }, + { + "id": 3, + "subtask": "lift and transport to pot" + } + ], + "subtask_name": "lift and transport to pot", + "subtask_reasoning": "The robot is currently lifting the strawberry and moving it toward the metal pot on the stove. The gripper remains open with no closing evidence, indicating the strawberry has not yet been grasped. The next action should involve positioning the gripper closer to the strawberry to initiate a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000763_ecot.json b/cot/chunk-0000/episode_0000763_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4e712d8f3434fc05cdd2861b9c12b90b375d968b --- /dev/null +++ b/cot/chunk-0000/episode_0000763_ecot.json @@ -0,0 +1,1879 @@ +{ + "task_name": "episode_0000763", + "episode_json": "json/chunk-0000/episode_0000763.json", + "video_path": "videos/chunk-0000/image_0/episode_0000763.mp4", + "instruction": "Upright basil bottle cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000763.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.1292063593864441, + "std": 0.04443730041384697, + "delta_total": 0.006052255630493164, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.12921, std=0.04444, total_delta=0.00605). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 16 + ], + [ + 3, + 17, + 17 + ], + [ + 4, + 18, + 24 + ], + [ + 5, + 25, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach bottle\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper toward the basil bottle without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp bottle\", \"start\": 7, \"end\": 16, \"planning\": \"Close the gripper around the bottle and secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"lift and reorient bottle\", \"start\": 17, \"end\": 17, \"planning\": \"Lift the bottle slightly and adjust its orientation to prepare for upright placement.\"},\n {\"id\": 4, \"name\": \"place bottle upright\", \"start\": 18, \"end\": 24, \"planning\": \"Lower the bottle onto the tray in an upright position and release the grip.\"},\n {\"id\": 5, \"name\": \"retreat from bottle\", \"start\": 25, \"end\": 26, \"planning\": \"Move the gripper away from the now-upright bottle to complete the task.\"}\n ],\n \"global_plan\": \"Approach the lying basil bottle, grasp it, lift and reorient it, place it upright on the tray, then retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closing — grasp is valid. Segment 3 is a single-frame transition (lift/reorient). Segment 4 shows opening after placement — release is implied. Segment 5 shows no gripper activity — retreat only.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach bottle", + "start": 0, + "end": 6, + "planning": "Move the gripper toward the basil bottle without closing, positioning for contact." + }, + { + "id": 2, + "name": "grasp bottle", + "start": 7, + "end": 16, + "planning": "Close the gripper around the bottle and secure it for manipulation." + }, + { + "id": 3, + "name": "lift and reorient bottle", + "start": 17, + "end": 17, + "planning": "Lift the bottle slightly and adjust its orientation to prepare for upright placement." + }, + { + "id": 4, + "name": "place bottle upright", + "start": 18, + "end": 24, + "planning": "Lower the bottle onto the tray in an upright position and release the grip." + }, + { + "id": 5, + "name": "retreat from bottle", + "start": 25, + "end": 26, + "planning": "Move the gripper away from the now-upright bottle to complete the task." + } + ], + "global_plan": "Approach the lying basil bottle, grasp it, lift and reorient it, place it upright on the tray, then retreat.", + "notes": "Segment 1 shows no gripper closure — described as approach. Segment 2 shows meaningful closing — grasp is valid. Segment 3 is a single-frame transition (lift/reorient). Segment 4 shows opening after placement — release is implied. Segment 5 shows no gripper activity — retreat only." + } + }, + "episode_goal": "Upright the basil bottle on the wooden tray.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34382131695747375, + -0.014330828562378883, + 0.07271893322467804, + -3.06742525100708, + -0.2314734309911728, + 0.42165544629096985 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray where the basil bottle lies horizontally. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33996903896331787, + -0.01473405584692955, + 0.0622619166970253, + -3.0557265281677246, + -0.19878558814525604, + 0.4309934973716736 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray where the basil bottle lies horizontally. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, rotate clockwise 50 degrees, keep gripper open; then move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.335517942905426, + 0.008430100046098232, + 0.06178708001971245, + -3.078042507171631, + -0.16837282478809357, + 0.6229516863822937 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray where the basil bottle lies horizontally. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335188031196594, + 0.04310636967420578, + 0.07297711819410324, + -3.0885095596313477, + -0.15168020129203796, + 0.8206122517585754 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 259, + 387, + 501, + 624 + ], + "red pepper": [ + 521, + 540, + 628, + 701 + ], + "wooden tray": [ + 52, + 165, + 766, + 821 + ], + "pear": [ + 463, + 275, + 559, + 382 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 5 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32178112864494324, + 0.07545962929725647, + 0.08639466762542725, + -3.116818428039551, + -0.1860562413930893, + 0.9926720857620239 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022850751876831, + 0.09105630218982697, + 0.07674809545278549, + -3.0929501056671143, + -0.13919758796691895, + 1.0794743299484253 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28234219551086426, + 0.09717854112386703, + 0.07123415172100067, + -3.1183528900146484, + -0.16598983108997345, + 1.1632452011108398 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "approach bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734389901161194, + 0.09527667611837387, + 0.05773458257317543, + 3.1111645698547363, + -0.17539024353027344, + 1.2639542818069458 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710908055305481, + 0.09625374525785446, + 0.0517510287463665, + 3.057912588119507, + -0.22783496975898743, + 1.349612832069397 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27221742272377014, + 0.0968586802482605, + 0.0500945970416069, + 3.0165774822235107, + -0.23312506079673767, + 1.480768084526062 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717992961406708, + 0.09645618498325348, + 0.04759346693754196, + 3.020400285720825, + -0.22304800152778625, + 1.4998770952224731 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot is approaching the lying basil bottle on the wooden tray, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the bottle for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2696802318096161, + 0.09683334827423096, + 0.040564682334661484, + 3.039353847503662, + -0.2216302454471588, + 1.5342553853988647 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the lying basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, ready to grasp. The next action is to close the gripper to secure the bottle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667803466320038, + 0.0966407060623169, + 0.03235403075814247, + 3.072645902633667, + -0.22849731147289276, + 1.5521125793457031 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the lying basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, ready to grasp. The next action is to close the gripper to secure the bottle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26788097620010376, + 0.09514272212982178, + 0.021779851987957954, + 3.0945537090301514, + -0.24684345722198486, + 1.5483981370925903 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the lying basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, ready to grasp. The next action is to close the gripper to secure the bottle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26558735966682434, + 0.092371866106987, + 0.011598695069551468, + 3.1120986938476562, + -0.2617177963256836, + 1.531270146369934 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the lying basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, ready to grasp. The next action is to close the gripper to secure the bottle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt back 30 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658383548259735, + 0.09198597818613052, + 0.009597906842827797, + 3.1190898418426514, + -0.2603493928909302, + 1.5249688625335693 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the lying basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, ready to grasp. The next action is to close the gripper to secure the bottle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 5 cm, tilt back 30 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26669928431510925, + 0.09156640619039536, + 0.010447056032717228, + 3.129070281982422, + -0.2428673654794693, + 1.4903059005737305 + ], + "gripper_value": 0.8775349855422974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "grasp bottle", + "subtask_reasoning": "The robot has approached the lying basil bottle on the wooden tray. The gripper is currently open and positioned near the bottle, ready to grasp. The next action is to close the gripper to secure the bottle for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 5 cm, tilt back 30 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27240321040153503, + 0.09711600840091705, + 0.02217422053217888, + -3.1261608600616455, + -0.2247219681739807, + 1.4618327617645264 + ], + "gripper_value": 0.9015869498252869 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 520, + 539, + 628, + 699 + ], + "bottle": [ + 290, + 388, + 502, + 629 + ], + "wooden tray": [ + 66, + 187, + 767, + 824 + ], + "pear": [ + 462, + 274, + 559, + 382 + ], + "cable": [ + 6, + 673, + 130, + 802 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "lift and reorient bottle", + "subtask_reasoning": "The robot's end-effector is positioned above the lying basil bottle on the wooden tray, with the gripper open. The approach and grasp phases are complete, but the bottle has not yet been lifted or reoriented. The next action is to close the gripper to secure the bottle before lifting and rotating it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 5 cm, tilt back 30 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826925218105316, + 0.10663432627916336, + 0.04804722219705582, + 3.140615701675415, + -0.2141672521829605, + 1.4701234102249146 + ], + "gripper_value": 0.9024295806884766 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "place bottle upright", + "subtask_reasoning": "The robot's end-effector is positioned above the lying basil bottle on the wooden tray, with the gripper open. The approach and grasp phases are complete, but the bottle has not yet been lifted or reoriented. The next action is to close the gripper to secure the bottle before lifting and rotating it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, tilt back 30 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28652703762054443, + 0.11356092244386673, + 0.0714244544506073, + 3.120729923248291, + -0.25485479831695557, + 1.4251463413238525 + ], + "gripper_value": 0.9024295806884766 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "place bottle upright", + "subtask_reasoning": "The robot's end-effector is positioned above the lying basil bottle on the wooden tray, with the gripper open. The approach and grasp phases are complete, but the bottle has not yet been lifted or reoriented. The next action is to close the gripper to secure the bottle before lifting and rotating it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29121527075767517, + 0.11825215816497803, + 0.09116075187921524, + 3.0465235710144043, + -0.37637725472450256, + 1.3534871339797974 + ], + "gripper_value": 0.9024295806884766 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "place bottle upright", + "subtask_reasoning": "The robot's end-effector is positioned above the lying basil bottle on the wooden tray, with the gripper open. The approach and grasp phases are complete, but the bottle has not yet been lifted or reoriented. The next action is to close the gripper to secure the bottle before lifting and rotating it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2898164391517639, + 0.11893915385007858, + 0.09869090467691422, + 2.9945268630981445, + -0.49779951572418213, + 1.310886263847351 + ], + "gripper_value": 0.9024295806884766 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "place bottle upright", + "subtask_reasoning": "The robot is holding the basil bottle above the wooden tray, having completed the approach and grasp phases. The bottle is currently suspended in the air, aligned for placement. The next action is to lower the bottle gently onto the tray surface to set it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2892162799835205, + 0.11575180292129517, + 0.09418991953134537, + 2.9758660793304443, + -0.5890777707099915, + 1.2860959768295288 + ], + "gripper_value": 0.8722711205482483 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "place bottle upright", + "subtask_reasoning": "The robot is holding the basil bottle above the wooden tray, having completed the approach and grasp phases. The bottle is currently suspended in the air, aligned for placement. The next action is to lower the bottle gently onto the tray surface to set it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29228171706199646, + 0.10781332105398178, + 0.08540651947259903, + 3.028080940246582, + -0.7032458186149597, + 1.1925781965255737 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "place bottle upright", + "subtask_reasoning": "The robot is holding the basil bottle above the wooden tray, having completed the approach and grasp phases. The bottle is currently suspended in the air, aligned for placement. The next action is to lower the bottle gently onto the tray surface to set it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2936669886112213, + 0.10133171826601028, + 0.08536103367805481, + 3.1235177516937256, + -0.6881616115570068, + 1.116034746170044 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 520, + 540, + 628, + 699 + ], + "bottle": [ + 254, + 215, + 374, + 494 + ], + "pear": [ + 462, + 274, + 559, + 382 + ], + "wooden tray": [ + 68, + 220, + 746, + 814 + ], + "cable": [ + 6, + 673, + 130, + 802 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "place bottle upright", + "subtask_reasoning": "The robot is holding the basil bottle above the wooden tray, having completed the approach and grasp phases. The bottle is currently suspended in the air, aligned for placement. The next action is to lower the bottle gently onto the tray surface to set it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29783305525779724, + 0.09479782730340958, + 0.09909584373235703, + -3.0941247940063477, + -0.6474568843841553, + 1.0757368803024292 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "retreat from bottle", + "subtask_reasoning": "The basil bottle is already upright on the wooden tray, and the gripper is open and positioned above it. The retreat subtask is underway, with the arm moving away from the bottle. The next action is to continue retracting the arm to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042980134487152, + 0.08620885014533997, + 0.12303970009088516, + -3.0872185230255127, + -0.5078544020652771, + 1.1021032333374023 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle on the wooden tray." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach bottle" + }, + { + "id": 2, + "subtask": "grasp bottle" + }, + { + "id": 3, + "subtask": "lift and reorient bottle" + }, + { + "id": 4, + "subtask": "place bottle upright" + }, + { + "id": 5, + "subtask": "retreat from bottle" + } + ], + "subtask_name": "retreat from bottle", + "subtask_reasoning": "The basil bottle is already upright on the wooden tray, and the gripper is open and positioned above it. The retreat subtask is underway, with the arm moving away from the bottle. The next action is to continue retracting the arm to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000765_ecot.json b/cot/chunk-0000/episode_0000765_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6d3546bfe56afc1bc67a6b8cf3f38aee8e51537c --- /dev/null +++ b/cot/chunk-0000/episode_0000765_ecot.json @@ -0,0 +1,2599 @@ +{ + "task_name": "episode_0000765", + "episode_json": "json/chunk-0000/episode_0000765.json", + "video_path": "videos/chunk-0000/image_0/episode_0000765.mp4", + "instruction": "Put the green object on top of the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000765.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.5642533302307129, + "std": 0.2663559913635254, + "delta_total": 0.003330826759338379, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56425, std=0.26636, total_delta=0.00333). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 300, + 300, + 300, + 300, + 0, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 214, + 214, + 214, + 214, + 214, + 114, + 114, + 114, + 114, + 114, + 114, + 128, + 128, + 128, + 128, + 128, + 128, + 128, + 128 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 6 + ], + [ + 4, + 7, + 7 + ], + [ + 5, + 8, + 13 + ], + [ + 6, + 14, + 16 + ], + [ + 7, + 17, + 21 + ], + [ + 8, + 22, + 27 + ], + [ + 9, + 28, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 6, \"planning\": \"Move the gripper from initial position toward the green object on the table.\"},\n {\"id\": 2, \"name\": \"align and descend to object\", \"start\": 7, \"end\": 13, \"planning\": \"Precisely position the gripper above the green object and lower it for contact.\"},\n {\"id\": 3, \"name\": \"grasp green object\", \"start\": 14, \"end\": 16, \"planning\": \"Close the gripper to securely grasp the green object, confirmed by gripper value drop and visual contact.\"},\n {\"id\": 4, \"name\": \"lift and transport to drawer\", \"start\": 17, \"end\": 27, \"planning\": \"Lift the grasped green object and move it horizontally toward the top of the drawer.\"},\n {\"id\": 5, \"name\": \"place object on drawer\", \"start\": 28, \"end\": 31, \"planning\": \"Lower the green object onto the drawer top and release grip as gripper opens fully.\"},\n {\"id\": 6, \"name\": \"retreat after placement\", \"start\": 32, \"end\": 35, \"planning\": \"Move the gripper away from the placed object to complete the task.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, place, and retreat — executing a full pick-and-place of the green object onto the drawer top.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 6 (frames 14-16) and 9 (frames 28-35), aligning with grasp and release phases. All other segments use motion-based descriptions without implying grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 6, + "planning": "Move the gripper from initial position toward the green object on the table." + }, + { + "id": 2, + "name": "align and descend to object", + "start": 7, + "end": 13, + "planning": "Precisely position the gripper above the green object and lower it for contact." + }, + { + "id": 3, + "name": "grasp green object", + "start": 14, + "end": 16, + "planning": "Close the gripper to securely grasp the green object, confirmed by gripper value drop and visual contact." + }, + { + "id": 4, + "name": "lift and transport to drawer", + "start": 17, + "end": 27, + "planning": "Lift the grasped green object and move it horizontally toward the top of the drawer." + }, + { + "id": 5, + "name": "place object on drawer", + "start": 28, + "end": 31, + "planning": "Lower the green object onto the drawer top and release grip as gripper opens fully." + }, + { + "id": 6, + "name": "retreat after placement", + "start": 32, + "end": 35, + "planning": "Move the gripper away from the placed object to complete the task." + } + ], + "global_plan": "Approach, grasp, lift, transport, place, and retreat — executing a full pick-and-place of the green object onto the drawer top.", + "notes": "Gripper evidence confirms meaningful closing only in segments 6 (frames 14-16) and 9 (frames 28-35), aligning with grasp and release phases. All other segments use motion-based descriptions without implying grasping." + } + }, + "episode_goal": "Place the green pear-shaped object on top of the wooden drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37267976999282837, + 0.08247721940279007, + 0.18324513733386993, + -3.1034164428710938, + -0.14305229485034943, + 0.12102723866701126 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves moving closer to the green object to prepare for grasping. The next action should be a controlled approach toward the object while maintaining gripper openness." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 15 cm, move down 11 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37201160192489624, + 0.08184632658958435, + 0.16953575611114502, + -3.1102187633514404, + -0.10209716111421585, + 0.12349395453929901 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves moving closer to the green object to prepare for grasping. The next action should be a controlled approach toward the object while maintaining gripper openness." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 14 cm, move down 10 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.36550024151802063, + 0.05829590931534767, + 0.1482352614402771, + 3.1253037452697754, + -0.05836019292473793, + 0.08363927900791168 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned near the green object on the table, with the gripper open and no prior actions completed. The current subtask involves moving closer to the green object to prepare for grasping. The next action should be a controlled approach toward the object while maintaining gripper openness." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move down 8 cm, keep gripper open; then move forward 4 cm, move right 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3568641245365143, + 0.02140631712973118, + 0.14156755805015564, + 3.1004891395568848, + -0.05823226645588875, + 0.01519736833870411 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is approaching the green pear-shaped object on the table, with the drawer unit visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 7 cm, keep gripper open; then move forward 4 cm, move right 3 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455508351325989, + -0.0006216613110154867, + 0.12200407683849335, + 3.1014106273651123, + -0.05587783828377724, + 0.007587927859276533 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is approaching the green pear-shaped object on the table, with the drawer unit visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, keep gripper open; then move forward 4 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415583670139313, + -0.02469911053776741, + 0.10432814061641693, + 3.1181578636169434, + -0.0781354308128357, + 0.020133456215262413 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is approaching the green pear-shaped object on the table, with the drawer unit visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, keep gripper open; then move forward 4 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424132466316223, + -0.04616027697920799, + 0.09409809112548828, + -3.1393659114837646, + -0.11500057578086853, + 0.05938616394996643 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is approaching the green pear-shaped object on the table, with the drawer unit visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, keep gripper open; then move forward 4 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34216001629829407, + -0.0628284141421318, + 0.07107330858707428, + 3.1393353939056396, + -0.08885186910629272, + 0.08718766272068024 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "align and descend to object", + "subtask_reasoning": "The robot is approaching the green pear-shaped object on the table, with the drawer unit visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.34083399176597595, + -0.07726562023162842, + 0.051488883793354034, + -3.12211537361145, + -0.04549565538764, + 0.0798485204577446 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 230, + 3, + 616, + 357 + ], + "green object": [ + 715, + 330, + 845, + 522 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "align and descend to object", + "subtask_reasoning": "The robot is approaching the green pear-shaped object on the table, with the drawer unit visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 4 cm, close gripper; then move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3488544821739197, + -0.08620469272136688, + 0.036513105034828186, + -3.1057214736938477, + -0.024556869640946388, + 0.07712847739458084 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "align and descend to object", + "subtask_reasoning": "The robot is approaching the green pear-shaped object on the table, with the drawer unit visible nearby. No grasping has occurred yet, as the gripper remains open and no contact has been made. The next action should continue moving the end-effector closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 9 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36021777987480164, + -0.08895203471183777, + 0.02840757556259632, + -3.0886807441711426, + -0.024334818124771118, + 0.09394631534814835 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "align and descend to object", + "subtask_reasoning": "The robot is positioned above the green object with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now descending to make contact. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 13 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3733692467212677, + -0.0918625146150589, + 0.022022414952516556, + -3.073122501373291, + -0.026608260348439217, + 0.09866722673177719 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "align and descend to object", + "subtask_reasoning": "The robot is positioned above the green object with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now descending to make contact. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 17 cm, move up 10 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839743435382843, + -0.09330817312002182, + 0.01747767999768257, + -3.061905860900879, + -0.0231013223528862, + 0.09901123493909836 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "align and descend to object", + "subtask_reasoning": "The robot is positioned above the green object with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now descending to make contact. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 20 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827044665813446, + -0.09232617169618607, + 0.014148006215691566, + -3.060356378555298, + -0.008395930752158165, + 0.09863962233066559 + ], + "gripper_value": 0.6791892647743225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "align and descend to object", + "subtask_reasoning": "The robot is positioned above the green object with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now descending to make contact. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 21 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38034531474113464, + -0.09503813087940216, + 0.013590594753623009, + -3.080057144165039, + 0.009079057723283768, + 0.0879269689321518 + ], + "gripper_value": 0.47659820318222046 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot is positioned above the green object with the gripper open and aligned for grasping. The approach phase is complete, and the arm is now descending to make contact. The next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 23 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37860724329948425, + -0.09578486531972885, + 0.02041093446314335, + -3.098378896713257, + 0.018250759690999985, + 0.042010851204395294 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has successfully positioned its gripper around the green object on the table. The gripper is currently open and in contact with the object, ready to initiate the closing motion. The next action is to close the gripper fingers to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 24 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3893935978412628, + -0.09067528694868088, + 0.07552212476730347, + -3.133335828781128, + -0.06934739649295807, + -0.025875404477119446 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The robot has successfully positioned its gripper around the green object on the table. The gripper is currently open and in contact with the object, ready to initiate the closing motion. The next action is to close the gripper fingers to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 5 cm, keep gripper closed; then move back 2 cm, move left 25 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39636367559432983, + -0.05980370566248894, + 0.12733571231365204, + 3.125852584838867, + -0.13099387288093567, + -0.019273722544312477 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 229, + 3, + 634, + 358 + ], + "green object": [ + 783, + 153, + 880, + 263 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot has successfully positioned its gripper around the green object on the table. The gripper is currently open and in contact with the object, ready to initiate the closing motion. The next action is to close the gripper fingers to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 25 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.39804449677467346, + -0.020700842142105103, + 0.1638539582490921, + 3.0795209407806396, + -0.13320505619049072, + 0.00598109932616353 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 714, + 5, + 817, + 116 + ], + "wooden box": [ + 228, + 3, + 663, + 358 + ], + "table": [ + 5, + 21, + 994, + 989 + ], + "black object": [ + 3, + 758, + 265, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot has successfully positioned its gripper around the green object on the table. The gripper is currently open and in contact with the object, ready to initiate the closing motion. The next action is to close the gripper fingers to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 21 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3977683186531067, + 0.03351646661758423, + 0.20064109563827515, + 3.0625462532043457, + -0.15114833414554596, + 0.07263796031475067 + ], + "gripper_value": 0.43747803568840027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot has successfully positioned its gripper around the green object on the table. The gripper is currently open and in contact with the object, ready to initiate the closing motion. The next action is to close the gripper fingers to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3938278555870056, + 0.06748109310865402, + 0.22808688879013062, + 3.0668859481811523, + -0.18195687234401703, + 0.11687441170215607 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot has successfully positioned its gripper around the green object on the table. The gripper is currently open and in contact with the object, ready to initiate the closing motion. The next action is to close the gripper fingers to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 13 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38878756761550903, + 0.112289197742939, + 0.22473326325416565, + 3.1124377250671387, + -0.14686425030231476, + 0.1835290491580963 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The robot has successfully positioned its gripper around the green object on the table. The gripper is currently open and in contact with the object, ready to initiate the closing motion. The next action is to close the gripper fingers to securely grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38536536693573, + 0.13552674651145935, + 0.2197398990392685, + -3.131314277648926, + -0.12705104053020477, + 0.2115602195262909 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The green object is not visible in the current frame, and the gripper shows no meaningful closing evidence in this segment, indicating it is not grasping the object. The robot appears to be moving over the table surface, likely searching or repositioning after a failed approach. The next action should be to locate the green object and re-attempt alignment and descent for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3822100758552551, + 0.1542409062385559, + 0.20704296231269836, + -3.096236228942871, + -0.09761114418506622, + 0.23862822353839874 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The green object is not visible in the current frame, and the gripper shows no meaningful closing evidence in this segment, indicating it is not grasping the object. The robot appears to be moving over the table surface, likely searching or repositioning after a failed approach. The next action should be to locate the green object and re-attempt alignment and descent for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3797132670879364, + 0.16717670857906342, + 0.18524973094463348, + -3.070065498352051, + -0.039915572851896286, + 0.25895369052886963 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The green object is not visible in the current frame, and the gripper shows no meaningful closing evidence in this segment, indicating it is not grasping the object. The robot appears to be moving over the table surface, likely searching or repositioning after a failed approach. The next action should be to locate the green object and re-attempt alignment and descent for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3774140775203705, + 0.1789139211177826, + 0.1659119576215744, + -3.0418825149536133, + 0.005100997630506754, + 0.2656097710132599 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The green object is not visible in the current frame, and the gripper shows no meaningful closing evidence in this segment, indicating it is not grasping the object. The robot appears to be moving over the table surface, likely searching or repositioning after a failed approach. The next action should be to locate the green object and re-attempt alignment and descent for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, open gripper; then move right 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37181374430656433, + 0.18938346207141876, + 0.15183410048484802, + -3.04142427444458, + 0.04559239372611046, + 0.29071101546287537 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The green object is not visible in the current frame, and the gripper shows no meaningful closing evidence in this segment, indicating it is not grasping the object. The robot appears to be moving over the table surface, likely searching or repositioning after a failed approach. The next action should be to locate the green object and re-attempt alignment and descent for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move right 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3696286082267761, + 0.1920786201953888, + 0.1391691118478775, + -3.0378596782684326, + 0.08260950446128845, + 0.288158655166626 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to drawer", + "subtask_reasoning": "The green object is not visible in the current frame, and the gripper shows no meaningful closing evidence in this segment, indicating it is not grasping the object. The robot appears to be moving over the table surface, likely searching or repositioning after a failed approach. The next action should be to locate the green object and re-attempt alignment and descent for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36922168731689453, + 0.19268879294395447, + 0.13658934831619263, + -3.0343329906463623, + 0.08952968567609787, + 0.28678005933761597 + ], + "gripper_value": 0.5091317892074585 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place object on drawer", + "subtask_reasoning": "The green object is not visible in the current frame, and the gripper shows no meaningful closing evidence in this segment, indicating it is not grasping the object. The robot appears to be moving over the table surface, likely searching or repositioning after a failed approach. The next action should be to locate the green object and re-attempt alignment and descent for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36802196502685547, + 0.19239601492881775, + 0.1347932666540146, + -3.0338032245635986, + 0.09717737883329391, + 0.28834205865859985 + ], + "gripper_value": 0.7161149382591248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place object on drawer", + "subtask_reasoning": "The green object is already placed on top of the wooden drawer, as seen in the image. The gripper is open and retracted, indicating the placement action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683336079120636, + 0.19237230718135834, + 0.13483360409736633, + -3.0308258533477783, + 0.09646090865135193, + 0.28384920954704285 + ], + "gripper_value": 0.9745318293571472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place object on drawer", + "subtask_reasoning": "The green object is already placed on top of the wooden drawer, as seen in the image. The gripper is open and retracted, indicating the placement action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3680877387523651, + 0.19216324388980865, + 0.13501706719398499, + -3.035837411880493, + 0.09625786542892456, + 0.28038251399993896 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place object on drawer", + "subtask_reasoning": "The green object is already placed on top of the wooden drawer, as seen in the image. The gripper is open and retracted, indicating the placement action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3705102801322937, + 0.1876305192708969, + 0.1345822662115097, + -3.0607900619506836, + 0.09167511016130447, + 0.26587289571762085 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green object is already placed on top of the wooden drawer, as seen in the image. The gripper is open and retracted, indicating the placement action is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3772498667240143, + 0.1792258471250534, + 0.15658912062644958, + -3.084846258163452, + 0.030400758609175682, + 0.24607248604297638 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green object is already placed on top of the drawer. The gripper is open and not in contact with any object, indicating the placement is complete. The robot is now retreating from the drawer area to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 32, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.37721961736679077, + 0.17515681684017181, + 0.18523336946964264, + -3.087555408477783, + -0.03975585848093033, + 0.23277391493320465 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 261, + 0, + 356, + 65 + ], + "wooden box": [ + 229, + 4, + 661, + 359 + ], + "table": [ + 5, + 9, + 994, + 992 + ], + "handle": [ + 533, + 129, + 699, + 314 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green object is already placed on top of the drawer. The gripper is open and not in contact with any object, indicating the placement is complete. The robot is now retreating from the drawer area to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3792572617530823, + 0.17150306701660156, + 0.18091285228729248, + -3.060973882675171, + -0.03710323944687843, + 0.2030184268951416 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear-shaped object on top of the wooden drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "align and descend to object" + }, + { + "id": 3, + "subtask": "grasp green object" + }, + { + "id": 4, + "subtask": "lift and transport to drawer" + }, + { + "id": 5, + "subtask": "place object on drawer" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The green object is already placed on top of the drawer. The gripper is open and not in contact with any object, indicating the placement is complete. The robot is now retreating from the drawer area to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000766_ecot.json b/cot/chunk-0000/episode_0000766_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..213b42c0f54c1a953eba45d2576a97c73660adcd --- /dev/null +++ b/cot/chunk-0000/episode_0000766_ecot.json @@ -0,0 +1,2486 @@ +{ + "task_name": "episode_0000766", + "episode_json": "json/chunk-0000/episode_0000766.json", + "video_path": "videos/chunk-0000/image_0/episode_0000766.mp4", + "instruction": "Move the blue spoon to the left of the bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000766.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.560684084892273, + "std": 0.25757896900177, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56068, std=0.25758, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 15, + 15, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 326, + 326, + 326, + 326, + 126, + 426, + 426, + 426 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 14 + ], + [ + 3, + 15, + 16 + ], + [ + 4, + 17, + 18 + ], + [ + 5, + 19, + 25 + ], + [ + 6, + 26, + 29 + ], + [ + 7, + 30, + 30 + ], + [ + 8, + 31, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the blue spoon without closing the gripper.\"},\n {\"id\": 2, \"name\": \"align and contact spoon\", \"start\": 10, \"end\": 14, \"planning\": \"Fine-tune position and make initial contact with the spoon handle.\"},\n {\"id\": 3, \"name\": \"secure spoon grip\", \"start\": 15, \"end\": 18, \"planning\": \"Close gripper to establish firm contact with the spoon for manipulation.\"},\n {\"id\": 4, \"name\": \"drag spoon leftward\", \"start\": 19, \"end\": 25, \"planning\": \"Slide the spoon across the table surface toward the left of the bowl.\"},\n {\"id\": 5, \"name\": \"release spoon\", \"start\": 26, \"end\": 29, \"planning\": \"Open gripper to release the spoon after positioning it left of the bowl.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 30, \"end\": 33, \"planning\": \"Lift and move the end-effector away from the spoon and bowl area.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, make contact, secure it with the gripper, drag it left of the bowl, release, and retreat.\",\n \"notes\": \"Gripper closure only occurs in segments 3-5 (frames 15-29), consistent with segment-level evidence; no grasp wording used outside those ranges. Motion is primarily sliding/dragging, not lifting, as supported by low z-heights and continuous table contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the blue spoon without closing the gripper." + }, + { + "id": 2, + "name": "align and contact spoon", + "start": 10, + "end": 14, + "planning": "Fine-tune position and make initial contact with the spoon handle." + }, + { + "id": 3, + "name": "secure spoon grip", + "start": 15, + "end": 18, + "planning": "Close gripper to establish firm contact with the spoon for manipulation." + }, + { + "id": 4, + "name": "drag spoon leftward", + "start": 19, + "end": 25, + "planning": "Slide the spoon across the table surface toward the left of the bowl." + }, + { + "id": 5, + "name": "release spoon", + "start": 26, + "end": 29, + "planning": "Open gripper to release the spoon after positioning it left of the bowl." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 30, + "end": 33, + "planning": "Lift and move the end-effector away from the spoon and bowl area." + } + ], + "global_plan": "Approach the blue spoon, make contact, secure it with the gripper, drag it left of the bowl, release, and retreat.", + "notes": "Gripper closure only occurs in segments 3-5 (frames 15-29), consistent with segment-level evidence; no grasp wording used outside those ranges. Motion is primarily sliding/dragging, not lifting, as supported by low z-heights and continuous table contact." + } + }, + "episode_goal": "Move the blue spoon to the left of the bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29399681091308594, + 0.09171473979949951, + 0.13964839279651642, + 3.048494815826416, + -0.10309568047523499, + -0.19914919137954712 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the wooden table where a blue spoon lies next to a metal bowl and a banana. The gripper is fully open, and the robot has not yet made contact with the spoon. The immediate next action is to lower the end-effector to approach the spoon's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 10 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2923579812049866, + 0.09060493856668472, + 0.13064360618591309, + 3.0333008766174316, + -0.07921479642391205, + -0.1941220611333847 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the wooden table where a blue spoon lies next to a metal bowl and a banana. The gripper is fully open, and the robot has not yet made contact with the spoon. The immediate next action is to lower the end-effector to approach the spoon's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move down 9 cm, tilt left 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2854017913341522, + 0.07733021676540375, + 0.11719705909490585, + 3.0268661975860596, + -0.062506765127182, + -0.20987488329410553 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the wooden table where a blue spoon lies next to a metal bowl and a banana. The gripper is fully open, and the robot has not yet made contact with the spoon. The immediate next action is to lower the end-effector to approach the spoon's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 8 cm, tilt left 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27001139521598816, + 0.06389185786247253, + 0.10914955288171768, + 3.041217565536499, + -0.08266887068748474, + -0.20030705630779266 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the wooden table where a blue spoon lies next to a metal bowl and a banana. The gripper is fully open, and the robot has not yet made contact with the spoon. The immediate next action is to lower the end-effector to approach the spoon's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25473424792289734, + 0.051000092178583145, + 0.09229631721973419, + 3.0553946495056152, + -0.08871887624263763, + -0.18294432759284973 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2484801560640335, + 0.050789494067430496, + 0.07261581718921661, + 3.0869953632354736, + -0.10575830191373825, + -0.120743528008461 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 612, + 416, + 726, + 642 + ], + "ice cream scoop": [ + 346, + 429, + 523, + 711 + ], + "metal bowl": [ + 281, + 207, + 485, + 477 + ], + "wooden countertop": [ + 4, + 220, + 857, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2544538378715515, + 0.05281706154346466, + 0.05582268536090851, + 3.0913937091827393, + -0.10746727883815765, + -0.07167472690343857 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569572329521179, + 0.0467047356069088, + 0.04735016077756882, + 3.1064133644104004, + -0.08711332082748413, + -0.09467842429876328 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26087087392807007, + 0.04208756983280182, + 0.046707794070243835, + 3.1187450885772705, + -0.1076308935880661, + -0.10204598307609558 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26027992367744446, + 0.03051525168120861, + 0.03838781639933586, + 3.130216360092163, + -0.09705860167741776, + -0.11508658528327942 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606831192970276, + 0.022136498242616653, + 0.036145057529211044, + -3.134394645690918, + -0.10215004533529282, + -0.1203642264008522 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25972750782966614, + 0.0179926585406065, + 0.024161865934729576, + -3.111686944961548, + -0.09449611604213715, + -0.11577198654413223 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot is positioned above the cutting board with the blue spoon and bowl visible below. No contact has been made yet as the gripper remains open and elevated. The next action is to lower the end-effector to approach the blue spoon for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597792446613312, + 0.019198499619960785, + 0.015428280457854271, + -3.100144863128662, + -0.09138555079698563, + -0.11159094423055649 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now aligned above it on the wooden surface. The gripper is currently open, indicating contact has not yet been secured. The next action is to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 14 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25610029697418213, + 0.019352171570062637, + 0.009020958095788956, + -3.1001389026641846, + -0.07580219209194183, + -0.11538814753293991 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now aligned above it on the wooden surface. The gripper is currently open, indicating contact has not yet been secured. The next action is to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 17 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25552722811698914, + 0.01970352604985237, + 0.007072336506098509, + -3.1000821590423584, + -0.06907571852207184, + -0.13072021305561066 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 4, + 201, + 858, + 986 + ], + "metal bowl": [ + 236, + 223, + 511, + 465 + ], + "orange cloth": [ + 249, + 332, + 512, + 476 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now aligned above it on the wooden surface. The gripper is currently open, indicating contact has not yet been secured. The next action is to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 18 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25380682945251465, + 0.0197568591684103, + 0.006945817265659571, + -3.1033823490142822, + -0.058619752526283264, + -0.13247452676296234 + ], + "gripper_value": 0.44759801030158997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "secure spoon grip", + "subtask_reasoning": "The robot has approached the blue spoon and is now aligned above it on the wooden surface. The gripper is currently open, indicating contact has not yet been secured. The next action is to close the gripper to grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 18 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2513565123081207, + 0.015707718208432198, + 0.009081444703042507, + -3.120579242706299, + -0.02994897961616516, + -0.1698905974626541 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "secure spoon grip", + "subtask_reasoning": "The robot end-effector is in contact with the blue spoon, positioned near the bowl. While the gripper signal shows no meaningful closing in this segment, the arm is aligned to secure the spoon. The next likely action is to adjust grip or begin dragging the spoon leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 18 cm, move down 12 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616851031780243, + -0.00874631293118, + 0.04321751371026039, + 3.096114158630371, + -0.11487346887588501, + -0.31839537620544434 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "secure spoon grip", + "subtask_reasoning": "The robot end-effector is in contact with the blue spoon, positioned near the bowl. While the gripper signal shows no meaningful closing in this segment, the arm is aligned to secure the spoon. The next likely action is to adjust grip or begin dragging the spoon leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 18 cm, move down 12 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2672097682952881, + -0.00888068601489067, + 0.09892475605010986, + 3.101449489593506, + -0.2770251929759979, + -0.3876667618751526 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 237, + 208, + 428, + 476 + ], + "orange cloth": [ + 248, + 398, + 435, + 518 + ], + "ice cream scoop": [ + 557, + 225, + 670, + 397 + ], + "wooden countertop": [ + 4, + 181, + 857, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "secure spoon grip", + "subtask_reasoning": "The robot end-effector is in contact with the blue spoon, positioned near the bowl. While the gripper signal shows no meaningful closing in this segment, the arm is aligned to secure the spoon. The next likely action is to adjust grip or begin dragging the spoon leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 18 cm, move down 12 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26346662640571594, + 0.03721782565116882, + 0.13148492574691772, + -3.1347029209136963, + -0.30981457233428955, + -0.3580927848815918 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot end-effector is in contact with the blue spoon, positioned near the bowl. While the gripper signal shows no meaningful closing in this segment, the arm is aligned to secure the spoon. The next likely action is to adjust grip or begin dragging the spoon leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move down 12 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2545655071735382, + 0.07945451885461807, + 0.11806061863899231, + -3.1137166023254395, + -0.21192148327827454, + -0.31038999557495117 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot end-effector is in contact with the blue spoon, positioned near the bowl. While the gripper signal shows no meaningful closing in this segment, the arm is aligned to secure the spoon. The next likely action is to adjust grip or begin dragging the spoon leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move forward 1 cm, move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24885931611061096, + 0.1303456872701645, + 0.10443592816591263, + -3.121852159500122, + -0.16319622099399567, + -0.21355505287647247 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot end-effector is in contact with the blue spoon, positioned near the bowl. While the gripper signal shows no meaningful closing in this segment, the arm is aligned to secure the spoon. The next likely action is to adjust grip or begin dragging the spoon leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.24677689373493195, + 0.17647530138492584, + 0.08955543488264084, + -3.129133701324463, + -0.11966388672590256, + -0.14117734134197235 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot is currently in contact with the blue spoon, positioned to the left of the metal bowl. Since the segment-level gripper evidence shows no closing motion, the spoon is being pushed or dragged rather than grasped. The next action is to continue sliding the spoon further left to ensure it is clearly positioned beside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2513469159603119, + 0.2055964171886444, + 0.07723192125558853, + -3.1127185821533203, + -0.10644064843654633, + -0.09342581778764725 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot is currently in contact with the blue spoon, positioned to the left of the metal bowl. Since the segment-level gripper evidence shows no closing motion, the spoon is being pushed or dragged rather than grasped. The next action is to continue sliding the spoon further left to ensure it is clearly positioned beside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565919756889343, + 0.21732987463474274, + 0.05581581965088844, + -3.109813928604126, + -0.08770790696144104, + -0.05511130392551422 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot is currently in contact with the blue spoon, positioned to the left of the metal bowl. Since the segment-level gripper evidence shows no closing motion, the spoon is being pushed or dragged rather than grasped. The next action is to continue sliding the spoon further left to ensure it is clearly positioned beside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583133578300476, + 0.2188434898853302, + 0.0338338166475296, + -3.132112741470337, + -0.04213113710284233, + -0.05025852844119072 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot is currently in contact with the blue spoon, positioned to the left of the metal bowl. Since the segment-level gripper evidence shows no closing motion, the spoon is being pushed or dragged rather than grasped. The next action is to continue sliding the spoon further left to ensure it is clearly positioned beside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548457384109497, + 0.2154206484556198, + 0.01577766053378582, + 3.113741636276245, + -0.000921479775570333, + -0.03504076600074768 + ], + "gripper_value": 0.5236935019493103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot is currently in contact with the blue spoon, positioned to the left of the metal bowl. Since the segment-level gripper evidence shows no closing motion, the spoon is being pushed or dragged rather than grasped. The next action is to continue sliding the spoon further left to ensure it is clearly positioned beside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527482509613037, + 0.2114914208650589, + 0.00933962780982256, + 3.0737037658691406, + 0.0334298200905323, + -0.02426200360059738 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The blue spoon is positioned to the left of the bowl on the table, and the gripper is open, indicating the spoon has been released. The subtask of releasing the spoon is complete, and the next action is to retreat the gripper away from the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 12 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2532403767108917, + 0.2092098593711853, + 0.012902439571917057, + 3.052849769592285, + 0.04076851159334183, + -0.03487805649638176 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The blue spoon is positioned to the left of the bowl on the table, and the gripper is open, indicating the spoon has been released. The subtask of releasing the spoon is complete, and the next action is to retreat the gripper away from the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 12 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26093778014183044, + 0.19842278957366943, + 0.06465213745832443, + 3.0988872051239014, + -0.019356034696102142, + -0.04045530781149864 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The blue spoon is positioned to the left of the bowl on the table, and the gripper is open, indicating the spoon has been released. The subtask of releasing the spoon is complete, and the next action is to retreat the gripper away from the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650459408760071, + 0.1534838080406189, + 0.1286383718252182, + -3.090707540512085, + -0.20253118872642517, + -0.11761792004108429 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 239, + 207, + 484, + 474 + ], + "banana": [ + 612, + 416, + 726, + 643 + ], + "ice cream scoop": [ + 57, + 284, + 235, + 523 + ], + "orange cloth": [ + 250, + 334, + 510, + 521 + ], + "wooden countertop": [ + 4, + 186, + 857, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue spoon is positioned to the left of the bowl on the table, and the gripper is open, indicating the spoon has been released. The subtask of releasing the spoon is complete, and the next action is to retreat the gripper away from the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832143306732178, + 0.10380833595991135, + 0.14555390179157257, + 3.1330208778381348, + -0.19717305898666382, + -0.18016895651817322 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue spoon is already positioned to the left of the bowl, indicating the placement task is complete. The gripper is fully open and the robot is in a retreat phase, moving away from the scene. The next action is to continue retreating to a safe distance or home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29900333285331726, + 0.06066831201314926, + 0.12657198309898376, + 3.0154712200164795, + -0.17529644072055817, + -0.19556282460689545 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue spoon is already positioned to the left of the bowl, indicating the placement task is complete. The gripper is fully open and the robot is in a retreat phase, moving away from the scene. The next action is to continue retreating to a safe distance or home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028884530067444, + 0.027862470597028732, + 0.12267058342695236, + 3.0209102630615234, + -0.1515635997056961, + -0.1788516342639923 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "secure spoon grip" + }, + { + "id": 4, + "subtask": "drag spoon leftward" + }, + { + "id": 5, + "subtask": "release spoon" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue spoon is already positioned to the left of the bowl, indicating the placement task is complete. The gripper is fully open and the robot is in a retreat phase, moving away from the scene. The next action is to continue retreating to a safe distance or home position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000768_ecot.json b/cot/chunk-0000/episode_0000768_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0a1d429c90a4f968f694c98ea0ecfa8c54b1347a --- /dev/null +++ b/cot/chunk-0000/episode_0000768_ecot.json @@ -0,0 +1,1645 @@ +{ + "task_name": "episode_0000768", + "episode_json": "json/chunk-0000/episode_0000768.json", + "video_path": "videos/chunk-0000/image_0/episode_0000768.mp4", + "instruction": "Take corn out of bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000768.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.4913786053657532, + "std": 0.21988719701766968, + "delta_total": -0.003992199897766113, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49138, std=0.21989, total_delta=-0.00399). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 14 + ], + [ + 3, + 15, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn in bowl\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the corn cob inside the blue bowl in the sink without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp corn cob\", \"start\": 4, \"end\": 14, \"planning\": \"Close gripper around the corn cob while maintaining contact and securing it for extraction.\"},\n {\"id\": 3, \"name\": \"lift and place corn on counter\", \"start\": 15, \"end\": 26, \"planning\": \"Lift the grasped corn cob out of the bowl and release it onto the countertop beside the sink.\"}\n ],\n \"global_plan\": \"Approach the corn in the bowl, grasp it securely, then lift and place it on the counter.\",\n \"notes\": \"Segment 1 shows no gripper closure — purely approach. Segment 2 shows significant gripper closing (delta=-0.457) consistent with grasping. Segment 3 shows gripper opening at end (frame 26 value=0.997) indicating release after placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn in bowl", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the corn cob inside the blue bowl in the sink without closing gripper." + }, + { + "id": 2, + "name": "grasp corn cob", + "start": 4, + "end": 14, + "planning": "Close gripper around the corn cob while maintaining contact and securing it for extraction." + }, + { + "id": 3, + "name": "lift and place corn on counter", + "start": 15, + "end": 26, + "planning": "Lift the grasped corn cob out of the bowl and release it onto the countertop beside the sink." + } + ], + "global_plan": "Approach the corn in the bowl, grasp it securely, then lift and place it on the counter.", + "notes": "Segment 1 shows no gripper closure — purely approach. Segment 2 shows significant gripper closing (delta=-0.457) consistent with grasping. Segment 3 shows gripper opening at end (frame 26 value=0.997) indicating release after placement." + } + }, + "episode_goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3788743317127228, + -0.029160771518945694, + 0.055087633430957794, + -3.043412446975708, + -0.1972542554140091, + 0.29552558064460754 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot is positioned above the sink, with the blue bowl containing corn visible below. No objects have been moved yet as the gripper remains open and stationary. The next step is to lower the arm to make contact with the corn in the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3734443783760071, + -0.028406057506799698, + 0.03916959837079048, + -3.02408504486084, + -0.15667399764060974, + 0.29005706310272217 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3803825378417969, + -0.019947322085499763, + 0.037237562239170074, + -3.0112173557281494, + -0.1935996413230896, + 0.2430187612771988 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39189383387565613, + -0.009736886247992516, + 0.02723630890250206, + -3.0199172496795654, + -0.19066034257411957, + 0.17023484408855438 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "approach corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40312516689300537, + -0.0016547545092180371, + 0.02373121865093708, + -3.0415124893188477, + -0.1739281266927719, + 0.17966555058956146 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 403, + 244, + 527, + 390 + ], + "sink": [ + 287, + 130, + 847, + 586 + ], + "stovetop": [ + 3, + 5, + 375, + 326 + ], + "grapes": [ + 312, + 405, + 428, + 548 + ], + "blue bowl": [ + 522, + 289, + 669, + 445 + ], + "bananas": [ + 554, + 294, + 629, + 401 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4064381718635559, + 0.006895928643643856, + 0.023916002362966537, + -3.0715718269348145, + -0.1744987815618515, + 0.17358709871768951 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4094049036502838, + 0.013390145264565945, + 0.02701638638973236, + -3.10900616645813, + -0.13044366240501404, + 0.17125757038593292 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, close gripper; then move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4098888337612152, + 0.018453605473041534, + 0.018198376521468163, + -3.081716537475586, + -0.12928153574466705, + 0.1831708699464798 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 3 cm, rotate clockwise 20 degrees, close gripper; then move back 1 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4113342761993408, + 0.017670849338173866, + 0.007694188971072435, + -3.0579168796539307, + -0.1124432384967804, + 0.19611069560050964 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned above the sink, with the corn visible inside the blue bowl. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4118833541870117, + 0.017698319628834724, + 0.0010134022450074553, + -3.0403523445129395, + -0.11488792300224304, + 0.2158481925725937 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.413595050573349, + 0.01712694577872753, + -0.0011272659758105874, + -3.038217067718506, + -0.12875725328922272, + 0.24513572454452515 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41376808285713196, + 0.015217018313705921, + -0.00195755111053586, + -3.0544474124908447, + -0.13397999107837677, + 0.26648736000061035 + ], + "gripper_value": 0.5100988745689392 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 6 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.412284255027771, + 0.015517535619437695, + -0.001928820856846869, + -3.0576255321502686, + -0.1524263173341751, + 0.2970784902572632 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move right 6 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40814685821533203, + 0.012148819863796234, + -0.00018124656344298273, + -3.0667035579681396, + -0.11785436421632767, + 0.3559759259223938 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 6 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.41043105721473694, + 0.004399281460791826, + 0.023022789508104324, + -3.0886385440826416, + -0.1472494751214981, + 0.4150603711605072 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper closed; then move back 4 cm, move right 5 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4129829704761505, + -0.007252386771142483, + 0.04736150801181793, + -3.098828077316284, + -0.15457716584205627, + 0.46328192949295044 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 518, + 291, + 665, + 450 + ], + "red pepper": [ + 403, + 244, + 527, + 390 + ], + "stovetop": [ + 5, + 5, + 375, + 327 + ], + "faucet": [ + 520, + 12, + 753, + 308 + ], + "sink": [ + 287, + 132, + 847, + 585 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4109630584716797, + -0.021967114880681038, + 0.06341493129730225, + -3.121643304824829, + -0.17317485809326172, + 0.46336814761161804 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40336135029792786, + -0.037996452301740646, + 0.0655764564871788, + -3.116558790206909, + -0.13347770273685455, + 0.44246605038642883 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4050692617893219, + -0.05017109587788582, + 0.0577751100063324, + -3.109921455383301, + -0.1340339183807373, + 0.4769443869590759 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4066796600818634, + -0.05473072826862335, + 0.03988422825932503, + -3.1097211837768555, + -0.1417984664440155, + 0.5093902945518494 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 518, + 291, + 665, + 454 + ], + "red pepper": [ + 402, + 243, + 528, + 390 + ], + "stovetop": [ + 30, + 6, + 374, + 326 + ], + "sink": [ + 287, + 132, + 848, + 584 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The robot has approached the corn cob in the blue bowl within the sink. The gripper is currently open and positioned near the corn, indicating readiness to grasp. The next action should be to close the gripper to securely hold the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4040274918079376, + -0.06037558242678642, + 0.030042553320527077, + -3.117331027984619, + -0.12460949271917343, + 0.5300906896591187 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The corn cob is currently held by the gripper above the sink basin, having been successfully lifted from the blue bowl. The robot is positioned to move the object toward the counter area. The next action is to translate the arm to place the corn onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.39122748374938965, + -0.06274373084306717, + 0.011533999815583229, + -3.120952606201172, + -0.10484883934259415, + 0.543425440788269 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The corn cob is currently held by the gripper above the sink basin, having been successfully lifted from the blue bowl. The robot is positioned to move the object toward the counter area. The next action is to translate the arm to place the corn onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38001036643981934, + -0.06305065006017685, + 0.0046981084160506725, + -3.127772569656372, + -0.10040860623121262, + 0.5399277210235596 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The corn cob is currently held by the gripper above the sink basin, having been successfully lifted from the blue bowl. The robot is positioned to move the object toward the counter area. The next action is to translate the arm to place the corn onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3775899112224579, + -0.06241821497678757, + 0.00305712828412652, + -3.1199822425842285, + -0.09911671280860901, + 0.5338983535766602 + ], + "gripper_value": 0.5918992757797241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The corn cob is currently held by the gripper above the sink basin, having been successfully lifted from the blue bowl. The robot is positioned to move the object toward the counter area. The next action is to translate the arm to place the corn onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37468621134757996, + -0.062021404504776, + 0.0032850538846105337, + -3.119797706604004, + -0.09212677925825119, + 0.5297533273696899 + ], + "gripper_value": 0.8827611207962036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The corn cob is currently held by the gripper above the sink basin, having been successfully lifted from the blue bowl. The robot is positioned to move the object toward the counter area. The next action is to translate the arm to place the corn onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.37234991788864136, + -0.06003985181450844, + 0.004066872876137495, + -3.1285793781280518, + -0.06554289162158966, + 0.56138014793396 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The corn cob is currently held by the gripper above the sink basin, having been successfully lifted from the blue bowl. The robot is positioned to move the object toward the counter area. The next action is to translate the arm to place the corn onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3672025203704834, + -0.05820332467556, + 0.006779816467314959, + -3.117384672164917, + -0.024317743256688118, + 0.5593685507774353 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink and place it directly into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn in bowl" + }, + { + "id": 2, + "subtask": "grasp corn cob" + }, + { + "id": 3, + "subtask": "lift and place corn on counter" + } + ], + "subtask_name": "lift and place corn on counter", + "subtask_reasoning": "The corn cob is currently held by the gripper above the sink basin, having been successfully lifted from the blue bowl. The robot is positioned to move the object toward the counter area. The next action is to translate the arm to place the corn onto the counter surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000770_ecot.json b/cot/chunk-0000/episode_0000770_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fb1a1ef18405bcde67a625039845151e940c71a3 --- /dev/null +++ b/cot/chunk-0000/episode_0000770_ecot.json @@ -0,0 +1,2620 @@ +{ + "task_name": "episode_0000770", + "episode_json": "json/chunk-0000/episode_0000770.json", + "video_path": "videos/chunk-0000/image_0/episode_0000770.mp4", + "instruction": "Close the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000770.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 18 + ], + [ + 3, + 19, + 28 + ], + [ + 4, + 29, + 30 + ], + [ + 5, + 31, + 33 + ], + [ + 6, + 34, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the open drawer's handle region without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and push drawer\", \"start\": 5, \"end\": 18, \"planning\": \"Apply forward pressure on the drawer to begin closing it, maintaining contact without gripping.\"},\n {\"id\": 3, \"name\": \"continue pushing drawer closed\", \"start\": 19, \"end\": 28, \"planning\": \"Sustain forward motion to slide the drawer further into the closed position.\"},\n {\"id\": 4, \"name\": \"reposition after partial closure\", \"start\": 29, \"end\": 30, \"planning\": \"Adjust end-effector pose slightly while maintaining proximity to the drawer front.\"},\n {\"id\": 5, \"name\": \"final push to fully close\", \"start\": 31, \"end\": 33, \"planning\": \"Complete the closing motion by pushing the drawer until it is flush with the cabinet body.\"},\n {\"id\": 6, \"name\": \"retreat from closed drawer\", \"start\": 34, \"end\": 35, \"planning\": \"Withdraw end-effector away from the now-closed drawer to conclude the task.\"}\n ],\n \"global_plan\": \"Close the drawer by approaching, making contact, pushing it shut in stages, and retreating — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~1.0 across all segments; no closing or grasping occurred. All actions are contact-based pushes and retreats. Segment boundaries respected but merged where motion phases are continuous.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the open drawer's handle region without grasping." + }, + { + "id": 2, + "name": "make contact and push drawer", + "start": 5, + "end": 18, + "planning": "Apply forward pressure on the drawer to begin closing it, maintaining contact without gripping." + }, + { + "id": 3, + "name": "continue pushing drawer closed", + "start": 19, + "end": 28, + "planning": "Sustain forward motion to slide the drawer further into the closed position." + }, + { + "id": 4, + "name": "reposition after partial closure", + "start": 29, + "end": 30, + "planning": "Adjust end-effector pose slightly while maintaining proximity to the drawer front." + }, + { + "id": 5, + "name": "final push to fully close", + "start": 31, + "end": 33, + "planning": "Complete the closing motion by pushing the drawer until it is flush with the cabinet body." + }, + { + "id": 6, + "name": "retreat from closed drawer", + "start": 34, + "end": 35, + "planning": "Withdraw end-effector away from the now-closed drawer to conclude the task." + } + ], + "global_plan": "Close the drawer by approaching, making contact, pushing it shut in stages, and retreating — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~1.0 across all segments; no closing or grasping occurred. All actions are contact-based pushes and retreats. Segment boundaries respected but merged where motion phases are continuous." + } + }, + "episode_goal": "Close the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24360443651676178, + 0.18347038328647614, + 0.12984566390514374, + -2.9277236461639404, + 0.3352900743484497, + -0.16717137396335602 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper fully open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end effector closer to the drawer handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24353641271591187, + 0.18387426435947418, + 0.12004175037145615, + -2.948484182357788, + 0.3580692410469055, + -0.1838187724351883 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open drawer with the gripper fully open and no contact made yet. The current subtask involves approaching the drawer handle to prepare for pushing it closed. The next action should be to move the end effector closer to the drawer handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 4 cm, move down 1 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2495785802602768, + 0.19339106976985931, + 0.10668957978487015, + -2.9682700634002686, + 0.3896079659461975, + -0.3306226134300232 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 5 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25350940227508545, + 0.20027445256710052, + 0.07858310639858246, + -3.0371198654174805, + 0.4399903416633606, + -0.44871985912323 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 168, + 252, + 216, + 340 + ], + "wooden box": [ + 299, + 166, + 947, + 768 + ], + "toy microwave": [ + 210, + 3, + 561, + 216 + ], + "pink toy": [ + 57, + 428, + 226, + 604 + ], + "table": [ + 5, + 148, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641337513923645, + 0.2043052315711975, + 0.06797466427087784, + -3.0260255336761475, + 0.3960675895214081, + -0.6098328828811646 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26683610677719116, + 0.1975499391555786, + 0.05330928787589073, + -3.050784111022949, + 0.3709627389907837, + -0.8313279151916504 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2757747173309326, + 0.18661698698997498, + 0.06469603627920151, + -2.942338228225708, + 0.2747722864151001, + -1.0567889213562012 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28509068489074707, + 0.19216741621494293, + 0.06373544782400131, + -2.8787074089050293, + 0.2356080412864685, + -1.239657998085022 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29514455795288086, + 0.1995764970779419, + 0.06817749887704849, + -2.810284376144409, + 0.27160128951072693, + -1.2878001928329468 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 4 cm, tilt right 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30223363637924194, + 0.20896150171756744, + 0.054560013115406036, + -2.814063549041748, + 0.33645302057266235, + -1.2548059225082397 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073761761188507, + 0.20445886254310608, + 0.04821990057826042, + -2.8693978786468506, + 0.33358144760131836, + -1.2566391229629517 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot is approaching the open drawer handle from a distance, with the gripper fully open and no contact made yet. No part of the subtask has been completed; the next action is to continue moving toward the handle to prepare for pushing the drawer closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30963602662086487, + 0.19340959191322327, + 0.044431596994400024, + -2.930335521697998, + 0.34244221448898315, + -1.2692451477050781 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3164081275463104, + 0.185010626912117, + 0.04847480356693268, + -2.971161365509033, + 0.3128530979156494, + -1.275209903717041 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 302, + 165, + 947, + 769 + ], + "table": [ + 6, + 147, + 991, + 991 + ], + "toy microwave": [ + 300, + 3, + 560, + 214 + ], + "pink toy": [ + 57, + 426, + 227, + 604 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 5 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32117119431495667, + 0.1794459968805313, + 0.056961581110954285, + -2.998318910598755, + 0.2647530734539032, + -1.2927238941192627 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 7 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32086458802223206, + 0.1761026233434677, + 0.05085429176688194, + -3.0362367630004883, + 0.23939202725887299, + -1.2958271503448486 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 4 cm, move right 9 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32035893201828003, + 0.17487011849880219, + 0.04336823150515556, + -3.056386947631836, + 0.24453014135360718, + -1.3004933595657349 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 9 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32005587220191956, + 0.1734381914138794, + 0.03805873170495033, + -3.0479683876037598, + 0.2694784700870514, + -1.303146481513977 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193264603614807, + 0.16892985999584198, + 0.03650423139333725, + -3.0625574588775635, + 0.2434883415699005, + -1.3194316625595093 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 8 cm, move down 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3119938373565674, + 0.15781189501285553, + 0.030995236709713936, + -3.119266986846924, + 0.20820845663547516, + -1.3578625917434692 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "make contact and push drawer", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30978119373321533, + 0.15124638378620148, + 0.030493782833218575, + 3.1363332271575928, + 0.18285822868347168, + -1.3673927783966064 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3096499741077423, + 0.14281436800956726, + 0.024166123941540718, + 3.109745740890503, + 0.1581471562385559, + -1.3840618133544922 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135888874530792, + 0.1266482174396515, + 0.01719140261411667, + 3.087843894958496, + 0.14509336650371552, + -1.4178787469863892 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 2 cm, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250139653682709, + 0.10334543883800507, + 0.012339865788817406, + 3.0720417499542236, + 0.1252109855413437, + -1.4235020875930786 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 150, + 234, + 217, + 336 + ], + "wooden box": [ + 417, + 162, + 949, + 769 + ], + "table": [ + 5, + 133, + 993, + 991 + ], + "pink toy": [ + 57, + 426, + 228, + 604 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot's end-effector is in contact with the front face of the open drawer, having completed the approach phase. Since the gripper remains fully open and no grasping is occurring, the robot is positioned to push the drawer closed. The next action is to apply forward force to slide the drawer shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 2 cm, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3370922803878784, + 0.08464672416448593, + 0.014735153876245022, + 3.06982159614563, + 0.11263466626405716, + -1.4273414611816406 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer front, continuing to push it closed without grasping. The gripper remains fully open, and motion is focused on forward displacement. Next, maintain contact and push further until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move up 2 cm, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34517690539360046, + 0.06575103849172592, + 0.018430810421705246, + 3.075798511505127, + 0.10031303018331528, + -1.443748116493225 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer front, continuing to push it closed without grasping. The gripper remains fully open, and motion is focused on forward displacement. Next, maintain contact and push further until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 2 cm, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432864546775818, + 0.05935689061880112, + 0.01943979412317276, + 3.054260015487671, + 0.08602552860975266, + -1.4470380544662476 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer front, continuing to push it closed without grasping. The gripper remains fully open, and motion is focused on forward displacement. Next, maintain contact and push further until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3394618332386017, + 0.05576573684811592, + 0.019633233547210693, + 3.0260183811187744, + 0.0641544908285141, + -1.4680895805358887 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer front, continuing to push it closed without grasping. The gripper remains fully open, and motion is focused on forward displacement. Next, maintain contact and push further until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33327174186706543, + 0.07286126911640167, + 0.01741124875843525, + 3.0396811962127686, + 0.18014532327651978, + -1.3509856462478638 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer front, continuing to push it closed without grasping. The gripper remains fully open, and motion is focused on forward displacement. Next, maintain contact and push further until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3209576904773712, + 0.1174544021487236, + 0.026710307225584984, + 3.1300036907196045, + 0.422199010848999, + -1.0929760932922363 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "continue pushing drawer closed", + "subtask_reasoning": "The robot is in contact with the drawer front, continuing to push it closed without grasping. The gripper remains fully open, and motion is focused on forward displacement. Next, maintain contact and push further until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090011477470398, + 0.1585627794265747, + 0.03354769945144653, + -3.0732626914978027, + 0.4295346140861511, + -0.8091539144515991 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden box": [ + 483, + 160, + 950, + 770 + ], + "yellow object": [ + 150, + 233, + 216, + 334 + ], + "table": [ + 5, + 135, + 993, + 991 + ], + "pink toy": [ + 56, + 427, + 225, + 604 + ], + "toy microwave": [ + 170, + 2, + 557, + 236 + ] + } + } + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "reposition after partial closure", + "subtask_reasoning": "The drawer is partially closed with the gripper in contact but not grasping, as confirmed by constant open gripper state. The robot has completed initial pushing and is now repositioning to continue closing the drawer. The next action is to adjust position or angle to apply further closing force without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 5 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28768256306648254, + 0.1796869933605194, + 0.041759390383958817, + -3.1019957065582275, + 0.40406790375709534, + -0.5727295875549316 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "reposition after partial closure", + "subtask_reasoning": "The drawer is partially closed with the gripper in contact but not grasping, as confirmed by constant open gripper state. The robot has completed initial pushing and is now repositioning to continue closing the drawer. The next action is to adjust position or angle to apply further closing force without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2697654664516449, + 0.1891285479068756, + 0.08103500306606293, + 3.036088466644287, + 0.33207619190216064, + -0.5441888570785522 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "final push to fully close", + "subtask_reasoning": "The drawer is partially closed with the gripper in contact but not grasping, as confirmed by constant open gripper state. The robot has completed initial pushing and is now repositioning to continue closing the drawer. The next action is to adjust position or angle to apply further closing force without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2461932897567749, + 0.18537841737270355, + 0.11073069274425507, + 2.97959303855896, + 0.26345473527908325, + -0.5141795873641968 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "final push to fully close", + "subtask_reasoning": "The robot is in contact with the drawer handle, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply a final forward push to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22716623544692993, + 0.1701814830303192, + 0.11862742155790329, + 3.0585319995880127, + 0.2180604785680771, + -0.4228982925415039 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "final push to fully close", + "subtask_reasoning": "The robot is in contact with the drawer handle, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply a final forward push to fully close the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21181213855743408, + 0.14303390681743622, + 0.11294481158256531, + -3.1165854930877686, + 0.1464073657989502, + -0.2752051055431366 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "retreat from closed drawer", + "subtask_reasoning": "The drawer is fully closed and the robot has completed pushing it shut. The gripper remains open with no grasp, and the robot is now retreating from the drawer area. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 34, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.20573927462100983, + 0.11957019567489624, + 0.10438305139541626, + -3.0525450706481934, + 0.07036449015140533, + -0.1875591278076172 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer" + }, + { + "id": 3, + "subtask": "continue pushing drawer closed" + }, + { + "id": 4, + "subtask": "reposition after partial closure" + }, + { + "id": 5, + "subtask": "final push to fully close" + }, + { + "id": 6, + "subtask": "retreat from closed drawer" + } + ], + "subtask_name": "retreat from closed drawer", + "subtask_reasoning": "The drawer is fully closed and the robot has completed pushing it shut. The gripper remains open with no grasp, and the robot is now retreating from the drawer area. The next action is to continue moving away to complete the retreat phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000771_ecot.json b/cot/chunk-0000/episode_0000771_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a318bd948e5a7052cddd355eb9d77973a81cccc9 --- /dev/null +++ b/cot/chunk-0000/episode_0000771_ecot.json @@ -0,0 +1,2088 @@ +{ + "task_name": "episode_0000771", + "episode_json": "json/chunk-0000/episode_0000771.json", + "video_path": "videos/chunk-0000/image_0/episode_0000771.mp4", + "instruction": "Put the blue figure on the top edge of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000771.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.00030727300327271223, + "delta_total": 0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00031, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 26 + ], + [ + 3, + 27, + 29 + ], + [ + 4, + 30, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth area\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the yellow cloth region where the blue figure is located, preparing for contact.\"},\n {\"id\": 2, \"name\": \"nudge blue figure onto cloth\", \"start\": 7, \"end\": 26, \"planning\": \"Use open gripper to gently push or slide the blue figure from its initial position onto the top edge of the yellow cloth.\"},\n {\"id\": 3, \"name\": \"reposition and verify placement\", \"start\": 27, \"end\": 29, \"planning\": \"Adjust end-effector position slightly to ensure the blue figure is stably placed on the cloth’s top edge without grasping.\"},\n {\"id\": 4, \"name\": \"retreat from scene\", \"start\": 30, \"end\": 31, \"planning\": \"Lift and withdraw end-effector away from the cloth and objects to complete the task without disturbing the placed figure.\"}\n ],\n \"global_plan\": \"The robot uses an open-gripper pushing strategy to relocate the blue figure onto the top edge of the yellow cloth, avoiding any grasp or lift actions since gripper remains fully open throughout. Motion is segmented into approach, nudge, fine adjustment, and retreat phases.\",\n \"notes\": \"No grasping occurred — gripper value remained near 1.0 (fully open) across all segments. Task was accomplished via contact-based manipulation (nudging/sliding). Frame ranges follow provided segment spans exactly for full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth area", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the yellow cloth region where the blue figure is located, preparing for contact." + }, + { + "id": 2, + "name": "nudge blue figure onto cloth", + "start": 7, + "end": 26, + "planning": "Use open gripper to gently push or slide the blue figure from its initial position onto the top edge of the yellow cloth." + }, + { + "id": 3, + "name": "reposition and verify placement", + "start": 27, + "end": 29, + "planning": "Adjust end-effector position slightly to ensure the blue figure is stably placed on the cloth’s top edge without grasping." + }, + { + "id": 4, + "name": "retreat from scene", + "start": 30, + "end": 31, + "planning": "Lift and withdraw end-effector away from the cloth and objects to complete the task without disturbing the placed figure." + } + ], + "global_plan": "The robot uses an open-gripper pushing strategy to relocate the blue figure onto the top edge of the yellow cloth, avoiding any grasp or lift actions since gripper remains fully open throughout. Motion is segmented into approach, nudge, fine adjustment, and retreat phases.", + "notes": "No grasping occurred — gripper value remained near 1.0 (fully open) across all segments. Task was accomplished via contact-based manipulation (nudging/sliding). Frame ranges follow provided segment spans exactly for full coverage and contiguity." + } + }, + "episode_goal": "Place the blue banana figure on the top edge of the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24272911250591278, + 0.11091054975986481, + 0.17000429332256317, + 3.0877115726470947, + -0.1817532330751419, + 0.3056715726852417 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact has been made yet as the subtask is in the initial approach phase. The next action is to continue moving the end-effector closer to the cloth area to prepare for nudging the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 10 cm, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24252384901046753, + 0.11036787182092667, + 0.16434983909130096, + 3.084582567214966, + -0.16501277685165405, + 0.30658912658691406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact has been made yet as the subtask is in the initial approach phase. The next action is to continue moving the end-effector closer to the cloth area to prepare for nudging the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 10 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2388705015182495, + 0.10007856041193008, + 0.143156960606575, + 3.098853588104248, + -0.14372067153453827, + 0.2864692509174347 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact has been made yet as the subtask is in the initial approach phase. The next action is to continue moving the end-effector closer to the cloth area to prepare for nudging the figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 7 cm, keep gripper open; then move back 2 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23699520528316498, + 0.09635491669178009, + 0.12921832501888275, + 3.1159942150115967, + -0.1479147970676422, + 0.2791382670402527 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23687276244163513, + 0.08820075541734695, + 0.1144251823425293, + 3.118593692779541, + -0.16048313677310944, + 0.27026981115341187 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23946255445480347, + 0.07635975629091263, + 0.0975743904709816, + 3.1283016204833984, + -0.1578882783651352, + 0.2569170594215393 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move left 4 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24282097816467285, + 0.07125712186098099, + 0.081854909658432, + 3.1391444206237793, + -0.15049970149993896, + 0.2585481107234955 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach cloth area", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 5 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24719591438770294, + 0.06755664199590683, + 0.06839986890554428, + -3.139953851699829, + -0.1518743485212326, + 0.2694876790046692 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white panel": [ + 700, + 20, + 996, + 485 + ], + "yellow cloth": [ + 128, + 466, + 518, + 945 + ], + "white marker": [ + 845, + 440, + 996, + 530 + ], + "green star": [ + 601, + 604, + 710, + 742 + ], + "green banana": [ + 408, + 620, + 579, + 878 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25081077218055725, + 0.06787936389446259, + 0.06026351451873779, + -3.139993667602539, + -0.16147823631763458, + 0.3150670826435089 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24832749366760254, + 0.06773172318935394, + 0.05780789628624916, + -3.1352782249450684, + -0.1601092368364334, + 0.30537843704223633 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24237971007823944, + 0.07049919664859772, + 0.05158454179763794, + -3.1232571601867676, + -0.1554759293794632, + 0.28597491979599 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 12 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23546931147575378, + 0.07917764037847519, + 0.041685204952955246, + -3.1178839206695557, + -0.11974670737981796, + 0.30174189805984497 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 14 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2321426421403885, + 0.08430910855531693, + 0.03747506067156792, + -3.116971731185913, + -0.1008433848619461, + 0.30589503049850464 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 16 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23600363731384277, + 0.09382777661085129, + 0.03324325010180473, + -3.114698886871338, + -0.10328305512666702, + 0.31153225898742676 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 15 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23984383046627045, + 0.1005941703915596, + 0.030817648395895958, + -3.1170949935913086, + -0.09681255370378494, + 0.3130554258823395 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 100, + 465, + 514, + 926 + ], + "white panel": [ + 700, + 18, + 996, + 485 + ], + "green banana": [ + 408, + 619, + 580, + 877 + ], + "white marker": [ + 844, + 440, + 996, + 530 + ], + "green star": [ + 601, + 604, + 711, + 742 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 13 cm, move down 1 cm, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2443036139011383, + 0.1083083525300026, + 0.024184387177228928, + -3.1041345596313477, + -0.10353396087884903, + 0.3151891827583313 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned above the table, approaching the yellow cloth and blue figure. No contact or manipulation has occurred yet. The next action is to continue moving toward the cloth area to prepare for nudging the blue figure." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 10 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25012096762657166, + 0.1162598580121994, + 0.019014017656445503, + -3.0887770652770996, + -0.1163625493645668, + 0.31762179732322693 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.257097989320755, + 0.12349803000688553, + 0.018426762893795967, + -3.0713744163513184, + -0.15246275067329407, + 0.319026917219162 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27533259987831116, + 0.1373632401227951, + 0.0196705162525177, + -3.0704424381256104, + -0.18363887071609497, + 0.3646366596221924 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041234612464905, + 0.157649427652359, + 0.02444201335310936, + -3.088768243789673, + -0.19127234816551208, + 0.46699079871177673 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33142995834350586, + 0.18745079636573792, + 0.02759612537920475, + -3.106658935546875, + -0.179320827126503, + 0.5984033346176147 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white panel": [ + 700, + 19, + 996, + 486 + ], + "yellow cloth": [ + 140, + 299, + 471, + 625 + ], + "green banana": [ + 406, + 621, + 580, + 879 + ], + "white marker": [ + 845, + 440, + 996, + 530 + ], + "green star": [ + 602, + 605, + 710, + 743 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539179861545563, + 0.21849066019058228, + 0.03250930830836296, + -3.1250720024108887, + -0.17647011578083038, + 0.7082597017288208 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3739669919013977, + 0.24424368143081665, + 0.03632442280650139, + -3.139925718307495, + -0.19127489626407623, + 0.7872952818870544 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36854878067970276, + 0.24580927193164825, + 0.034994129091501236, + -3.1373584270477295, + -0.1694568395614624, + 0.7910962104797363 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411390483379364, + 0.22932350635528564, + 0.021626772359013557, + -3.11892032623291, + -0.136017844080925, + 0.7570476531982422 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115803897380829, + 0.20693644881248474, + 0.029401252046227455, + -3.1196908950805664, + -0.12229739874601364, + 0.6948187947273254 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white panel": [ + 701, + 20, + 996, + 485 + ], + "green banana": [ + 406, + 622, + 580, + 879 + ], + "green star": [ + 603, + 604, + 710, + 742 + ], + "white marker": [ + 845, + 440, + 996, + 530 + ], + "yellow cloth": [ + 97, + 246, + 404, + 575 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.28759270906448364, + 0.18699589371681213, + 0.03846503049135208, + -3.1364970207214355, + -0.11875822395086288, + 0.6351751089096069 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "nudge blue figure onto cloth", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2669818103313446, + 0.17043624818325043, + 0.0471077561378479, + 3.131641387939453, + -0.11799827218055725, + 0.5886427760124207 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition and verify placement", + "subtask_reasoning": "The robot's open gripper is positioned near the blue banana figure, which is currently on the table next to the yellow cloth. The approach phase is complete, and the robot is now in contact with or immediately adjacent to the figure. The next action is to push or nudge the blue figure onto the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.254791259765625, + 0.16226956248283386, + 0.049796510487794876, + 3.130781888961792, + -0.10917526483535767, + 0.5572170615196228 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition and verify placement", + "subtask_reasoning": "The blue banana figure is already positioned on the yellow cloth near the top edge, with the gripper fully open and no grasp evidence. The robot is performing fine adjustments or verification of placement, likely involving small nudges or positional checks without contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2533878684043884, + 0.1613626629114151, + 0.04936763271689415, + 3.130894422531128, + -0.10612426698207855, + 0.555679976940155 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition and verify placement", + "subtask_reasoning": "The blue banana figure is already positioned on the yellow cloth near the top edge, with the gripper fully open and no grasp evidence. The robot is performing fine adjustments or verification of placement, likely involving small nudges or positional checks without contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555121183395386, + 0.16422723233699799, + 0.059259671717882156, + -3.1406702995300293, + -0.11965322494506836, + 0.5727343559265137 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue banana figure is already positioned on the top edge of the yellow cloth, and the robot's gripper remains fully open with no contact. The current subtask involves retreating from the scene after successful placement, with no further manipulation needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2608668804168701, + 0.17257161438465118, + 0.07761259377002716, + -3.0893545150756836, + -0.17595906555652618, + 0.601460337638855 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue banana figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth area" + }, + { + "id": 2, + "subtask": "nudge blue figure onto cloth" + }, + { + "id": 3, + "subtask": "reposition and verify placement" + }, + { + "id": 4, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue banana figure is already positioned on the top edge of the yellow cloth, and the robot's gripper remains fully open with no contact. The current subtask involves retreating from the scene after successful placement, with no further manipulation needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000772_ecot.json b/cot/chunk-0000/episode_0000772_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba8a2217870a40cd4550280ecf01f188e11aeae3 --- /dev/null +++ b/cot/chunk-0000/episode_0000772_ecot.json @@ -0,0 +1,2718 @@ +{ + "task_name": "episode_0000772", + "episode_json": "json/chunk-0000/episode_0000772.json", + "video_path": "videos/chunk-0000/image_0/episode_0000772.mp4", + "instruction": "Unfold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000772.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.9516083002090454, + "std": 0.4404394030570984, + "delta_total": 0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95161, std=0.44044, total_delta=0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 235, + 235, + 235, + 235, + 235 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 20 + ], + [ + 4, + 21, + 34 + ], + [ + 5, + 35, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the bottom-right corner of the cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp cloth corner\", \"start\": 5, \"end\": 13, \"planning\": \"Close gripper to securely grasp the bottom-right corner of the cloth, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition for unfolding\", \"start\": 14, \"end\": 20, \"planning\": \"Lift and reposition the grasped cloth corner upward and leftward to prepare for unfolding motion.\"},\n {\"id\": 4, \"name\": \"unfold cloth diagonally\", \"start\": 21, \"end\": 34, \"planning\": \"Drag the cloth diagonally from bottom-right toward top-left while maintaining grip, gradually flattening it across the table surface.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 35, \"end\": 39, \"planning\": \"Open gripper to release the cloth after unfolding, then retreat end-effector away from the now-flattened cloth.\"}\n ],\n \"global_plan\": \"Unfold the cloth by first approaching and grasping its bottom-right corner, then dragging it diagonally toward the top-left while maintaining grip, finally releasing once fully unfolded.\",\n \"notes\": \"Subtask boundaries align with provided segment spans; gripper evidence validates grasp only in segments 2, 4, and 5 where meaningful closure occurred. Segment 1 uses contact-based language due to no gripper movement. Segment 3 is inferred as repositioning based on motion trajectory between grasp and drag phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the bottom-right corner of the cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp cloth corner", + "start": 5, + "end": 13, + "planning": "Close gripper to securely grasp the bottom-right corner of the cloth, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "reposition for unfolding", + "start": 14, + "end": 20, + "planning": "Lift and reposition the grasped cloth corner upward and leftward to prepare for unfolding motion." + }, + { + "id": 4, + "name": "unfold cloth diagonally", + "start": 21, + "end": 34, + "planning": "Drag the cloth diagonally from bottom-right toward top-left while maintaining grip, gradually flattening it across the table surface." + }, + { + "id": 5, + "name": "release and retreat", + "start": 35, + "end": 39, + "planning": "Open gripper to release the cloth after unfolding, then retreat end-effector away from the now-flattened cloth." + } + ], + "global_plan": "Unfold the cloth by first approaching and grasping its bottom-right corner, then dragging it diagonally toward the top-left while maintaining grip, finally releasing once fully unfolded.", + "notes": "Subtask boundaries align with provided segment spans; gripper evidence validates grasp only in segments 2, 4, and 5 where meaningful closure occurred. Segment 1 uses contact-based language due to no gripper movement. Segment 3 is inferred as repositioning based on motion trajectory between grasp and drag phases." + } + }, + "episode_goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.11909009516239166, + -0.01795014552772045, + 0.2450520247220993, + 3.1040830612182617, + -0.1214073970913887, + 0.0314636267721653 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned near the table with the cloth visible, but the end-effector has not yet made contact with the bottom-right corner of the cloth. No part of the unfolding task has been completed yet. The next action should be to move the gripper closer to and align it with the bottom-right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.11827683448791504, + -0.01900554448366165, + 0.23974403738975525, + 3.0978260040283203, + -0.11553305387496948, + 0.038248881697654724 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned near the table with the cloth visible, but the end-effector has not yet made contact with the bottom-right corner of the cloth. No part of the unfolding task has been completed yet. The next action should be to move the gripper closer to and align it with the bottom-right corner of the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move down 11 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.11605580896139145, + -0.026428593322634697, + 0.1967868208885193, + 3.0809667110443115, + -0.09424851834774017, + 0.06261786818504333 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the folded blue cloth on the table. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 7 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.13011588156223297, + -0.03185547888278961, + 0.1739107370376587, + -3.1363325119018555, + -0.21977701783180237, + 0.034269727766513824 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the folded blue cloth on the table. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 8 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.15332411229610443, + -0.04041878879070282, + 0.15438714623451233, + -3.055319309234619, + -0.37206780910491943, + 0.004805169068276882 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the folded blue cloth on the table. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 8 cm, move down 4 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1853281706571579, + -0.0548127256333828, + 0.1300690770149231, + -2.9283759593963623, + -0.4389093518257141, + -0.05836591124534607 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 698, + 550, + 830, + 884 + ], + "table": [ + 5, + 57, + 995, + 993 + ], + "white cylinder": [ + 726, + 376, + 861, + 502 + ], + "blue object": [ + 693, + 449, + 815, + 577 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the folded blue cloth on the table. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 4 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2099132090806961, + -0.06141100451350212, + 0.11139819025993347, + -2.859009265899658, + -0.44434455037117004, + -0.09284131228923798 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the folded blue cloth on the table. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 2 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22930283844470978, + -0.06014549359679222, + 0.10312752425670624, + -2.830998420715332, + -0.43363240361213684, + -0.07947953045368195 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the folded blue cloth on the table. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24449597299098969, + -0.057478465139865875, + 0.09836402535438538, + -2.828998565673828, + -0.41751325130462646, + -0.056641340255737305 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the folded blue cloth on the table. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to make contact with the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25214385986328125, + -0.05696906894445419, + 0.10267487913370132, + -2.84320068359375, + -0.4215087592601776, + -0.041021592915058136 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 4 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2615867257118225, + -0.05325997993350029, + 0.1029609739780426, + -2.8457884788513184, + -0.41234615445137024, + -0.018562085926532745 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 3 cm, move left 5 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26595577597618103, + -0.050489310175180435, + 0.10107526183128357, + -2.8446860313415527, + -0.4053037762641907, + -0.0038344215136021376 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 4 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26802587509155273, + -0.050513338297605515, + 0.09423752129077911, + -2.8327441215515137, + -0.38922175765037537, + -0.006985376123338938 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26864880323410034, + -0.05100873112678528, + 0.09152577817440033, + -2.836048126220703, + -0.3880923092365265, + 0.0027563809417188168 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690503001213074, + -0.05094742402434349, + 0.09171122312545776, + -2.8381600379943848, + -0.3929247260093689, + 0.009326543658971786 + ], + "gripper_value": 0.36191558837890625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for unfolding", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26848405599594116, + -0.05009179934859276, + 0.08960438519716263, + -2.862107992172241, + -0.3736477792263031, + 0.014337983913719654 + ], + "gripper_value": 0.14964459836483002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for unfolding", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27076515555381775, + -0.04374184086918831, + 0.09609296172857285, + -2.918658494949341, + -0.3481829762458801, + 0.03789758309721947 + ], + "gripper_value": 0.07494325935840607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for unfolding", + "subtask_reasoning": "The robot has approached the bottom-right corner of the cloth and is now in contact with it. The gripper is open and positioned to grasp the corner. The next action should be to close the gripper to secure the cloth corner before initiating the diagonal pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27972158789634705, + -0.032656412571668625, + 0.1075579971075058, + -2.967611312866211, + -0.3149343729019165, + 0.06015423312783241 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 698, + 550, + 831, + 885 + ], + "blue cloth": [ + 56, + 215, + 726, + 699 + ], + "table": [ + 4, + 81, + 995, + 992 + ], + "white cylinder": [ + 727, + 377, + 861, + 502 + ], + "blue object": [ + 693, + 449, + 815, + 577 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for unfolding", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed; then move forward 7 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28835177421569824, + -0.021733589470386505, + 0.1189330592751503, + -2.982013463973999, + -0.27865153551101685, + 0.03923727571964264 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for unfolding", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 9 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29347801208496094, + -0.014615656808018684, + 0.12407594174146652, + -2.973517417907715, + -0.27276280522346497, + 0.013039154931902885 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for unfolding", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 9 cm, move left 11 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30335015058517456, + 0.002706543542444706, + 0.13086427748203278, + -2.917306900024414, + -0.25433269143104553, + 0.013642502948641777 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for unfolding", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move forward 10 cm, move left 12 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136606514453888, + 0.028911389410495758, + 0.14376820623874664, + -2.8394713401794434, + -0.23077510297298431, + 0.019052887335419655 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 699, + 551, + 830, + 884 + ], + "table": [ + 5, + 60, + 995, + 993 + ], + "blue cloth": [ + 59, + 205, + 724, + 699 + ], + "white cylinder": [ + 727, + 377, + 861, + 503 + ], + "blue object": [ + 693, + 449, + 815, + 578 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 13 cm, tilt left 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31618013978004456, + 0.05143153294920921, + 0.1494785100221634, + -2.7293741703033447, + -0.19969217479228973, + -0.10829174518585205 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 11 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3236517608165741, + 0.0695522278547287, + 0.15413901209831238, + -2.679572820663452, + -0.17307542264461517, + -0.2559649348258972 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 10 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33979442715644836, + 0.08318161964416504, + 0.1527240127325058, + -2.6524574756622314, + -0.16223710775375366, + -0.40484723448753357 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 10 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574180603027344, + 0.09665938466787338, + 0.15663032233715057, + -2.5830299854278564, + -0.13759835064411163, + -0.4811522662639618 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 9 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.37163305282592773, + 0.10955823212862015, + 0.1568734496831894, + -2.5816235542297363, + -0.09889525920152664, + -0.49028101563453674 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot has successfully grasped the bottom-right corner of the blue cloth, as indicated by the closed gripper and the cloth being lifted. The current subtask involves repositioning the arm to prepare for the diagonal pull. The next action is to begin dragging the cloth towards the top-left to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3860664367675781, + 0.12007031589746475, + 0.1578385829925537, + -2.5789830684661865, + -0.08927282691001892, + -0.477669358253479 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987261652946472, + 0.1321745216846466, + 0.15385498106479645, + -2.580599308013916, + -0.07010215520858765, + -0.46805015206336975 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 2 cm, open gripper; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4071250557899475, + 0.13988342881202698, + 0.15397179126739502, + -2.5845746994018555, + -0.07593252509832382, + -0.4626993238925934 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 3 cm, open gripper; then move back 4 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4160665273666382, + 0.14679954946041107, + 0.14901424944400787, + -2.5844876766204834, + -0.06936066597700119, + -0.46410995721817017 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 2 cm, open gripper; then move back 4 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4238039553165436, + 0.1570058912038803, + 0.14383183419704437, + -2.5906405448913574, + -0.061588104814291, + -0.4416545331478119 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 698, + 550, + 831, + 884 + ], + "blue cloth": [ + 61, + 87, + 714, + 698 + ], + "table": [ + 4, + 76, + 995, + 993 + ], + "white cylinder": [ + 726, + 377, + 861, + 502 + ], + "blue object": [ + 693, + 449, + 815, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 1 cm, open gripper; then move back 4 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.43436887860298157, + 0.1632661670446396, + 0.13407626748085022, + -2.6012380123138428, + -0.04713531211018562, + -0.42990246415138245 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 4 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4444717764854431, + 0.1691492199897766, + 0.12757807970046997, + -2.6191298961639404, + -0.03331156447529793, + -0.40986019372940063 + ], + "gripper_value": 0.09775853902101517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move back 4 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4487594664096832, + 0.1782994568347931, + 0.12716448307037354, + -2.6218268871307373, + -0.037717707455158234, + -0.39633628726005554 + ], + "gripper_value": 0.25822705030441284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 4 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.45393311977386475, + 0.18304352462291718, + 0.1289261430501938, + -2.61565899848938, + -0.05298366770148277, + -0.385975182056427 + ], + "gripper_value": 0.5043045878410339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.45682772994041443, + 0.1861569583415985, + 0.13658900558948517, + -2.6102688312530518, + -0.08017287403345108, + -0.37589818239212036 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom-right corner of the blue cloth, which is partially folded on the table. The gripper is closed and stable, indicating a secure grasp has been maintained. The next action is to drag the cloth diagonally toward the top-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.45296093821525574, + 0.1844858080148697, + 0.12672722339630127, + -2.6357545852661133, + -0.06892547756433487, + -0.37481001019477844 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is fully unfolded on the table, and the gripper has released the bottom-right corner as indicated by the high gripper value (1.01057) and segment-level evidence showing a significant opening delta. The robot is now retreating from the cloth, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.44075340032577515, + 0.16264089941978455, + 0.11802982538938522, + -2.661726713180542, + -0.058956585824489594, + -0.4053056240081787 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is fully unfolded on the table, and the gripper has released the bottom-right corner as indicated by the high gripper value (1.01057) and segment-level evidence showing a significant opening delta. The robot is now retreating from the cloth, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.41683343052864075, + 0.11118590831756592, + 0.14570102095603943, + -2.6837475299835205, + -0.10528398305177689, + -0.4749549329280853 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the cloth and pull it diagonally towards the top-left to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition for unfolding" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is fully unfolded on the table, and the gripper has released the bottom-right corner as indicated by the high gripper value (1.01057) and segment-level evidence showing a significant opening delta. The robot is now retreating from the cloth, completing the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000773_ecot.json b/cot/chunk-0000/episode_0000773_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..682e7068279169315ef00633698a24cd6d35807a --- /dev/null +++ b/cot/chunk-0000/episode_0000773_ecot.json @@ -0,0 +1,1268 @@ +{ + "task_name": "episode_0000773", + "episode_json": "json/chunk-0000/episode_0000773.json", + "video_path": "videos/chunk-0000/image_0/episode_0000773.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000773.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.000666201114654541, + "std": 0.0003314308705739677, + "delta_total": 0.000666201114654541, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00033, total_delta=0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the lever while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"make contact with lever\", \"start\": 6, \"end\": 10, \"planning\": \"Position end-effector to establish physical contact with the lever without grasping.\"},\n {\"id\": 3, \"name\": \"push lever to vertical front\", \"start\": 11, \"end\": 15, \"planning\": \"Apply controlled force via end-effector to rotate lever into vertical front orientation.\"},\n {\"id\": 4, \"name\": \"hold position and release contact\", \"start\": 16, \"end\": 19, \"planning\": \"Maintain final lever position briefly then retract end-effector while releasing contact.\"}\n ],\n \"global_plan\": \"Approach the lever, make contact without grasping, push it to vertical front orientation, then hold and release contact.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is purely positional and contact-based manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the lever while maintaining open gripper state." + }, + { + "id": 2, + "name": "make contact with lever", + "start": 6, + "end": 10, + "planning": "Position end-effector to establish physical contact with the lever without grasping." + }, + { + "id": 3, + "name": "push lever to vertical front", + "start": 11, + "end": 15, + "planning": "Apply controlled force via end-effector to rotate lever into vertical front orientation." + }, + { + "id": 4, + "name": "hold position and release contact", + "start": 16, + "end": 19, + "planning": "Maintain final lever position briefly then retract end-effector while releasing contact." + } + ], + "global_plan": "Approach the lever, make contact without grasping, push it to vertical front orientation, then hold and release contact.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is purely positional and contact-based manipulation." + } + }, + "episode_goal": "Turn lever vertical to front.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40566569566726685, + -0.19387827813625336, + 0.21083687245845795, + 2.56437349319458, + -0.2736460864543915, + 1.0594271421432495 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or grasping has occurred so far in this subtask. The next action should be to move the end-effector closer to the lever to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 2 cm, keep gripper open; then move back 4 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4037950932979584, + -0.19054682552814484, + 0.18514148890972137, + 2.6188385486602783, + -0.28599420189857483, + 1.0494205951690674 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "power strip": [ + 14, + 652, + 167, + 829 + ] + } + } + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or grasping has occurred so far in this subtask. The next action should be to move the end-effector closer to the lever to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, keep gripper open; then move back 8 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39852234721183777, + -0.18290381133556366, + 0.17366403341293335, + 2.6397361755371094, + -0.30395734310150146, + 1.0567721128463745 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or gripper action has occurred in this segment. The next action should be to move the end-effector closer to the lever to initiate contact for pushing it vertical." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 1 cm, keep gripper open; then move back 8 cm, move left 3 cm, move down 4 cm, keep gripper open; then move back 4 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38682761788368225, + -0.17100118100643158, + 0.18134452402591705, + 2.6158390045166016, + -0.31449806690216064, + 1.0749764442443848 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or gripper action has occurred in this segment. The next action should be to move the end-effector closer to the lever to initiate contact for pushing it vertical." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open; then move back 8 cm, move left 3 cm, move down 4 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37918463349342346, + -0.16276884078979492, + 0.18355244398117065, + 2.59097957611084, + -0.31678837537765503, + 1.087888479232788 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or gripper action has occurred in this segment. The next action should be to move the end-effector closer to the lever to initiate contact for pushing it vertical." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move back 8 cm, move left 3 cm, move down 4 cm, keep gripper open; then move back 8 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37975701689720154, + -0.14690786600112915, + 0.18869616091251373, + 2.5791945457458496, + -0.323755145072937, + 1.1196753978729248 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or gripper action has occurred in this segment. The next action should be to move the end-effector closer to the lever to initiate contact for pushing it vertical." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 8 cm, move left 3 cm, move down 4 cm, keep gripper open; then move back 8 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37581300735473633, + -0.14563460648059845, + 0.18606340885162354, + 2.565927505493164, + -0.32485657930374146, + 1.1135460138320923 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "make contact with lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or gripper action has occurred in this segment. The next action should be to move the end-effector closer to the lever to initiate contact for pushing it vertical." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move down 4 cm, keep gripper open; then move back 8 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37068793177604675, + -0.145063117146492, + 0.18257446587085724, + 2.5318048000335693, + -0.32064902782440186, + 1.1082102060317993 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "make contact with lever", + "subtask_reasoning": "The robot arm is positioned near the lever mechanism but has not yet made contact. No movement or gripper action has occurred in this segment. The next action should be to move the end-effector closer to the lever to initiate contact for pushing it vertical." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move down 4 cm, keep gripper open; then move back 8 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657740354537964, + -0.14384131133556366, + 0.1800166815519333, + 2.4957170486450195, + -0.30820298194885254, + 1.107450246810913 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "make contact with lever", + "subtask_reasoning": "The robot has approached the lever and is now in close proximity, with the end-effector positioned near the lever base. No grasping has occurred as gripper remains open. The next action is to make physical contact with the lever to begin pushing it toward vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move back 8 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3551052212715149, + -0.1410059630870819, + 0.17302976548671722, + 2.5048067569732666, + -0.2812846899032593, + 1.1146267652511597 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "make contact with lever", + "subtask_reasoning": "The robot has approached the lever and is now in close proximity, with the end-effector positioned near the lever base. No grasping has occurred as gripper remains open. The next action is to make physical contact with the lever to begin pushing it toward vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 3 cm, keep gripper open; then move back 8 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357561230659485, + -0.13272446393966675, + 0.16776762902736664, + 2.5248520374298096, + -0.26877275109291077, + 1.110172986984253 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "make contact with lever", + "subtask_reasoning": "The robot has approached the lever and is now in close proximity, with the end-effector positioned near the lever base. No grasping has occurred as gripper remains open. The next action is to make physical contact with the lever to begin pushing it toward vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 8 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005359470844269, + -0.12060277909040451, + 0.14330634474754333, + 2.5966148376464844, + -0.25871628522872925, + 1.0964504480361938 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "push lever to vertical front", + "subtask_reasoning": "The robot has approached the lever and is now in close proximity, with the end-effector positioned near the lever base. No grasping has occurred as gripper remains open. The next action is to make physical contact with the lever to begin pushing it toward vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595045268535614, + -0.11322388052940369, + 0.13853199779987335, + 2.6492929458618164, + -0.26513898372650146, + 1.1093968152999878 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "power strip": [ + 10, + 649, + 165, + 825 + ] + } + } + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "push lever to vertical front", + "subtask_reasoning": "The robot has approached the lever and is now in close proximity, with the end-effector positioned near the lever base. No grasping has occurred as gripper remains open. The next action is to make physical contact with the lever to begin pushing it toward vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23487399518489838, + -0.11093872785568237, + 0.1616874486207962, + 2.619713544845581, + -0.294079452753067, + 1.1207104921340942 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "push lever to vertical front", + "subtask_reasoning": "The robot arm is in contact with the lever, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying force to rotate the lever to a vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2254672646522522, + -0.11056800186634064, + 0.16710862517356873, + 2.6077520847320557, + -0.3045743405818939, + 1.1036399602890015 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "push lever to vertical front", + "subtask_reasoning": "The robot arm is in contact with the lever, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying force to rotate the lever to a vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2245885729789734, + -0.11134673655033112, + 0.16814051568508148, + 2.5868237018585205, + -0.29767054319381714, + 1.09804105758667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "push lever to vertical front", + "subtask_reasoning": "The robot arm is in contact with the lever, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying force to rotate the lever to a vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22464102506637573, + -0.11117492616176605, + 0.1685994267463684, + 2.584923267364502, + -0.29880189895629883, + 1.0982438325881958 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "hold position and release contact", + "subtask_reasoning": "The robot arm is in contact with the lever, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying force to rotate the lever to a vertical front orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22452019155025482, + -0.11129060387611389, + 0.16851511597633362, + 2.5852558612823486, + -0.29734376072883606, + 1.0985006093978882 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "hold position and release contact", + "subtask_reasoning": "The lever is in the vertical front position, and the robot's end-effector is in contact with it. The gripper remains open with no closing evidence, indicating no grasp. The next action is to release contact by moving the end-effector away from the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22452019155025482, + -0.11129060387611389, + 0.16851511597633362, + 2.5852558612823486, + -0.29734376072883606, + 1.0985006093978882 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "hold position and release contact", + "subtask_reasoning": "The lever is in the vertical front position, and the robot's end-effector is in contact with it. The gripper remains open with no closing evidence, indicating no grasp. The next action is to release contact by moving the end-effector away from the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22447021305561066, + -0.11151939630508423, + 0.1685994267463684, + 2.584923267364502, + -0.2988019287586212, + 1.0967098474502563 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn lever vertical to front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "make contact with lever" + }, + { + "id": 3, + "subtask": "push lever to vertical front" + }, + { + "id": 4, + "subtask": "hold position and release contact" + } + ], + "subtask_name": "hold position and release contact", + "subtask_reasoning": "The lever is in the vertical front position, and the robot's end-effector is in contact with it. The gripper remains open with no closing evidence, indicating no grasp. The next action is to release contact by moving the end-effector away from the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000774_ecot.json b/cot/chunk-0000/episode_0000774_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..098a0ca3541b11db03754ee396d29f9e96cd7028 --- /dev/null +++ b/cot/chunk-0000/episode_0000774_ecot.json @@ -0,0 +1,3057 @@ +{ + "task_name": "episode_0000774", + "episode_json": "json/chunk-0000/episode_0000774.json", + "video_path": "videos/chunk-0000/image_0/episode_0000774.mp4", + "instruction": "Move the blue block on top of the uncolored cubes.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000774.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4859282374382019, + "std": 0.22744286060333252, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.48593, std=0.22744, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 15 + ], + [ + 3, + 16, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 10, \"planning\": \"Move the gripper from initial position toward the blue block on the stack without closing.\"},\n {\"id\": 2, \"name\": \"align above blue block\", \"start\": 11, \"end\": 15, \"planning\": \"Fine-tune end-effector pose directly above the blue block in preparation for grasp.\"},\n {\"id\": 3, \"name\": \"grasp and lift blue block\", \"start\": 16, \"end\": 30, \"planning\": \"Close gripper to grasp the blue block, then lift it clear of the stack.\"},\n {\"id\": 4, \"name\": \"transport blue block\", \"start\": 31, \"end\": 40, \"planning\": \"Carry the grasped blue block over to the uncolored cubes on the left.\"},\n {\"id\": 5, \"name\": \"place blue block on cubes\", \"start\": 41, \"end\": 44, \"planning\": \"Lower and release the blue block onto the uncolored cubes, then retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the blue block on the colored stack, grasp and lift it, transport it leftward, and place it atop the uncolored cubes.\",\n \"notes\": \"Segment 1 and 2 show no gripper closure — motion is purely positional approach and alignment. Segment 3 shows significant gripper closure (range=0.48593) consistent with grasping at frame 16–30, followed by transport and placement. Frame 44 image confirms blue block is now on uncolored cubes, validating successful completion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 10, + "planning": "Move the gripper from initial position toward the blue block on the stack without closing." + }, + { + "id": 2, + "name": "align above blue block", + "start": 11, + "end": 15, + "planning": "Fine-tune end-effector pose directly above the blue block in preparation for grasp." + }, + { + "id": 3, + "name": "grasp and lift blue block", + "start": 16, + "end": 30, + "planning": "Close gripper to grasp the blue block, then lift it clear of the stack." + }, + { + "id": 4, + "name": "transport blue block", + "start": 31, + "end": 40, + "planning": "Carry the grasped blue block over to the uncolored cubes on the left." + }, + { + "id": 5, + "name": "place blue block on cubes", + "start": 41, + "end": 44, + "planning": "Lower and release the blue block onto the uncolored cubes, then retreat slightly." + } + ], + "global_plan": "Approach the blue block on the colored stack, grasp and lift it, transport it leftward, and place it atop the uncolored cubes.", + "notes": "Segment 1 and 2 show no gripper closure — motion is purely positional approach and alignment. Segment 3 shows significant gripper closure (range=0.48593) consistent with grasping at frame 16–30, followed by transport and placement. Frame 44 image confirms blue block is now on uncolored cubes, validating successful completion." + } + }, + "episode_goal": "Place the blue block on top of the uncolored cubes.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25767388939857483, + 0.006073904223740101, + 0.0173781868070364, + 3.050619125366211, + 0.1274241805076599, + 0.7053885459899902 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the stack of colored blocks where the blue block is located. The gripper is open and has not yet made contact with any objects. The next action is to lower the arm and align the gripper with the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25365158915519714, + 0.0050721303559839725, + 0.011891908943653107, + 3.0615625381469727, + 0.1494455486536026, + 0.708664059638977 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the stack of colored blocks where the blue block is located. The gripper is open and has not yet made contact with any objects. The next action is to lower the arm and align the gripper with the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2593335807323456, + 0.002523186383768916, + 0.02381707727909088, + 2.9971399307250977, + 0.13696399331092834, + 0.7062625288963318 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the stack of colored blocks where the blue block is located. The gripper is open and has not yet made contact with any objects. The next action is to lower the arm and align the gripper with the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 7 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2711328864097595, + 0.0030471181962639093, + 0.04642101749777794, + 2.950336456298828, + 0.07111229002475739, + 0.6888606548309326 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the stack of colored blocks where the blue block is located. The gripper is open and has not yet made contact with any objects. The next action is to lower the arm and align the gripper with the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27729517221450806, + 0.0006516018183901906, + 0.059210147708654404, + 2.939042329788208, + 0.02986292354762554, + 0.6687391996383667 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, hovering near the stack of colored blocks where the blue block is located. The gripper is open and has not yet made contact with any objects. The next action is to lower the arm and align the gripper with the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29305678606033325, + -0.018914151936769485, + 0.08456596732139587, + 2.9521470069885254, + -0.05958861485123634, + 0.5692949295043945 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30614545941352844, + -0.04300418868660927, + 0.10774439573287964, + 2.9644811153411865, + -0.12610386312007904, + 0.476190447807312 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31050190329551697, + -0.0629701316356659, + 0.12174195796251297, + 2.9923388957977295, + -0.16148248314857483, + 0.4077053368091583 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105688989162445, + -0.06945819407701492, + 0.12015645951032639, + 3.011629819869995, + -0.1425984501838684, + 0.38571596145629883 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 126, + 229, + 995, + 995 + ], + "metallic machine part": [ + 603, + 7, + 950, + 367 + ], + "black vertical post": [ + 448, + 2, + 536, + 334 + ], + "blue block": [ + 649, + 379, + 740, + 584 + ], + "red letter": [ + 299, + 104, + 417, + 207 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115077614784241, + -0.06953099370002747, + 0.10205884277820587, + 3.0588533878326416, + -0.07219972461462021, + 0.38811835646629333 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 125, + 229, + 995, + 995 + ], + "black vertical post": [ + 449, + 2, + 536, + 335 + ], + "blue block": [ + 648, + 378, + 740, + 584 + ], + "metallic machine part": [ + 601, + 7, + 933, + 413 + ], + "red letter": [ + 299, + 105, + 418, + 210 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3132243752479553, + -0.0687638446688652, + 0.086868055164814, + 3.103933334350586, + -0.005510473623871803, + 0.4136132299900055 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31489911675453186, + -0.06496698409318924, + 0.0733756348490715, + -3.139261484146118, + 0.043634381145238876, + 0.43618789315223694 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "align above blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167676329612732, + -0.06463818997144699, + 0.06780240684747696, + -3.117987632751465, + 0.07012087851762772, + 0.4453430473804474 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "align above blue block", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the blue block which sits atop a colored stack. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to align with the blue block for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31636860966682434, + -0.06364291906356812, + 0.0615876168012619, + -3.1127114295959473, + 0.09301874786615372, + 0.4598647654056549 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "align above blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3173733055591583, + -0.059558119624853134, + 0.06000702828168869, + -3.1209352016448975, + 0.10485637187957764, + 0.4847305119037628 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "align above blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 3 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166150152683258, + -0.058745935559272766, + 0.056323274970054626, + -3.1233863830566406, + 0.12134028971195221, + 0.48735707998275757 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "align above blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193705081939697, + -0.05528120696544647, + 0.05477598309516907, + 3.1405632495880127, + 0.12339580804109573, + 0.5056707859039307 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199854791164398, + -0.053364962339401245, + 0.05381767079234123, + 3.1292316913604736, + 0.1249844878911972, + 0.5103288888931274 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3172403872013092, + -0.05256477743387222, + 0.04834183305501938, + 3.1173930168151855, + 0.13067428767681122, + 0.5159664154052734 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31878361105918884, + -0.05029483884572983, + 0.04726194590330124, + 3.107403516769409, + 0.12360178679227829, + 0.518600344657898 + ], + "gripper_value": 0.5236935019493103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31842315196990967, + -0.049659378826618195, + 0.04681269824504852, + 3.104219436645508, + 0.12364473193883896, + 0.5202791094779968 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31144383549690247, + -0.04552413523197174, + 0.048433396965265274, + 3.096863269805908, + 0.11793643981218338, + 0.5375981330871582 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045935034751892, + -0.03757123649120331, + 0.06215282157063484, + 3.079434394836426, + 0.07580196112394333, + 0.5672956109046936 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the colored stack, with the gripper open and aligned for grasping. The approach phase is complete, and the next step is to close the gripper to grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2970699369907379, + -0.028372079133987427, + 0.0725654810667038, + 3.0704357624053955, + 0.04049735888838768, + 0.6001321077346802 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.285125195980072, + -0.018464265391230583, + 0.06782104074954987, + 3.0850155353546143, + 0.04962766915559769, + 0.6372188925743103 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27487194538116455, + -0.009720328263938427, + 0.056691210716962814, + 3.0813632011413574, + 0.09174502640962601, + 0.6901702880859375 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2695382833480835, + -0.002188726095482707, + 0.04454986751079559, + 3.0803205966949463, + 0.13622066378593445, + 0.7223115563392639 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 127, + 222, + 994, + 994 + ], + "blue block": [ + 501, + 400, + 588, + 611 + ], + "yellow block": [ + 614, + 439, + 714, + 693 + ], + "black vertical post": [ + 394, + 2, + 441, + 266 + ], + "red letter": [ + 300, + 106, + 416, + 210 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2673526108264923, + 0.005351030267775059, + 0.03811918571591377, + 3.0849642753601074, + 0.15422432124614716, + 0.7394703030586243 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 128, + 221, + 994, + 994 + ], + "yellow block": [ + 613, + 439, + 714, + 694 + ], + "blue block": [ + 488, + 409, + 575, + 614 + ], + "red letter": [ + 300, + 107, + 416, + 210 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674538493156433, + 0.011769763194024563, + 0.03676045686006546, + 3.0840463638305664, + 0.15662865340709686, + 0.7529251575469971 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2666291892528534, + 0.014569314196705818, + 0.03346335515379906, + 3.088794231414795, + 0.16468511521816254, + 0.754034698009491 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move up 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625376284122467, + 0.015629125759005547, + 0.03122454509139061, + 3.100947380065918, + 0.1722327321767807, + 0.7612395882606506 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "grasp and lift blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25746968388557434, + 0.01553271897137165, + 0.028501568362116814, + 3.1167759895324707, + 0.18161511421203613, + 0.7680466175079346 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543667256832123, + 0.013318519107997417, + 0.026990218088030815, + 3.1243162155151367, + 0.1897168606519699, + 0.762086808681488 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527764141559601, + 0.01352058444172144, + 0.028931286185979843, + 3.1210520267486572, + 0.1847197711467743, + 0.7646918892860413 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523718476295471, + 0.013897298835217953, + 0.02873861789703369, + 3.1201155185699463, + 0.18329791724681854, + 0.764890730381012 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot's gripper is in contact with the blue block, having successfully aligned and closed around it. The segment-level gripper evidence confirms a closing action has occurred. The next step is to lift the blue block vertically to clear the underlying stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.25283122062683105, + 0.01320518646389246, + 0.028327254578471184, + 3.1164493560791016, + 0.18311181664466858, + 0.7590417861938477 + ], + "gripper_value": 0.570969820022583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block, having successfully grasped and lifted it from the colored stack. The gripper evidence confirms a secure hold as the arm transports the block leftward. The next action is to continue moving the block towards the uncolored cubes for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.25250503420829773, + 0.01307915709912777, + 0.02910996973514557, + 3.117147922515869, + 0.18582887947559357, + 0.7554535269737244 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block, having successfully grasped and lifted it from the colored stack. The gripper evidence confirms a secure hold as the arm transports the block leftward. The next action is to continue moving the block towards the uncolored cubes for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.25224003195762634, + 0.012617796659469604, + 0.028806747868657112, + 3.1178202629089355, + 0.18984895944595337, + 0.7619556784629822 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block, having successfully grasped and lifted it from the colored stack. The gripper evidence confirms a secure hold as the arm transports the block leftward. The next action is to continue moving the block towards the uncolored cubes for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555994391441345, + 0.013415382243692875, + 0.04059911146759987, + 3.08725643157959, + 0.15671570599079132, + 0.7650665640830994 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block, having successfully grasped and lifted it from the colored stack. The gripper evidence confirms a secure hold as the arm transports the block leftward. The next action is to continue moving the block towards the uncolored cubes for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.25946202874183655, + 0.014844131655991077, + 0.06560453027486801, + 3.0348427295684814, + 0.08365064114332199, + 0.7553815841674805 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block, having successfully grasped and lifted it from the colored stack. The gripper evidence confirms a secure hold as the arm transports the block leftward. The next action is to continue moving the block towards the uncolored cubes for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.26703161001205444, + 0.017403239384293556, + 0.07997173815965652, + 3.022310972213745, + 0.049183011054992676, + 0.7452250719070435 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block, having successfully grasped and lifted it from the colored stack. The gripper evidence confirms a secure hold as the arm transports the block leftward. The next action is to continue moving the block towards the uncolored cubes for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2731653153896332, + 0.013648007065057755, + 0.08848418295383453, + 3.0569844245910645, + 0.02370605058968067, + 0.6942031383514404 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "place blue block on cubes", + "subtask_reasoning": "The robot is currently holding the blue block, having successfully grasped and lifted it from the colored stack. The gripper evidence confirms a secure hold as the arm transports the block leftward. The next action is to continue moving the block towards the uncolored cubes for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.28040868043899536, + -0.008186889812350273, + 0.08711936324834824, + 3.0953989028930664, + 0.018909376114606857, + 0.584828794002533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "place blue block on cubes", + "subtask_reasoning": "The blue block is already positioned on top of the uncolored cubes, and the gripper is open and hovering above it. Since the segment shows no gripper closing and the block is in place, the subtask is effectively complete; the next action is to retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.28738313913345337, + -0.0366545133292675, + 0.08287002891302109, + 3.1168274879455566, + 0.011685007251799107, + 0.4481436610221863 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "place blue block on cubes", + "subtask_reasoning": "The blue block is already positioned on top of the uncolored cubes, and the gripper is open and hovering above it. Since the segment shows no gripper closing and the block is in place, the subtask is effectively complete; the next action is to retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856462597846985, + -0.051700469106435776, + 0.08151662349700928, + 3.1213719844818115, + 0.008492950350046158, + 0.37643882632255554 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 127, + 223, + 995, + 995 + ], + "blue block": [ + 431, + 445, + 528, + 655 + ], + "yellow block": [ + 612, + 440, + 713, + 695 + ], + "metallic machine part": [ + 521, + 36, + 841, + 489 + ], + "black vertical post": [ + 448, + 5, + 536, + 335 + ], + "red letter": [ + 300, + 106, + 417, + 211 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the uncolored cubes." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "align above blue block" + }, + { + "id": 3, + "subtask": "grasp and lift blue block" + }, + { + "id": 4, + "subtask": "transport blue block" + }, + { + "id": 5, + "subtask": "place blue block on cubes" + } + ], + "subtask_name": "place blue block on cubes", + "subtask_reasoning": "The blue block is already positioned on top of the uncolored cubes, and the gripper is open and hovering above it. Since the segment shows no gripper closing and the block is in place, the subtask is effectively complete; the next action is to retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000775_ecot.json b/cot/chunk-0000/episode_0000775_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3c154bcd30834b9d036e413973b82ee2e7c67e31 --- /dev/null +++ b/cot/chunk-0000/episode_0000775_ecot.json @@ -0,0 +1,2854 @@ +{ + "task_name": "episode_0000775", + "episode_json": "json/chunk-0000/episode_0000775.json", + "video_path": "videos/chunk-0000/image_0/episode_0000775.mp4", + "instruction": "Fold the cloth from left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000775.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.9503263235092163, + "std": 0.4418479800224304, + "delta_total": -0.00874185562133789, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95033, std=0.44185, total_delta=-0.00874). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 120, + 120, + 120, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 238, + 238 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 19 + ], + [ + 4, + 20, + 22 + ], + [ + 5, + 23, + 37 + ], + [ + 6, + 38, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth left edge\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper toward the left edge of the cloth without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and stabilize\", \"start\": 7, \"end\": 9, \"planning\": \"Gently touch and stabilize position at the left edge of the cloth to prepare for folding.\"},\n {\"id\": 3, \"name\": \"grasp and lift left corner\", \"start\": 10, \"end\": 19, \"planning\": \"Close gripper to grasp the left corner of the cloth and lift it slightly to initiate fold.\"},\n {\"id\": 4, \"name\": \"drag cloth rightward\", \"start\": 20, \"end\": 22, \"planning\": \"Maintain grip and drag the cloth horizontally to the right to begin folding motion.\"},\n {\"id\": 5, \"name\": \"complete fold and release\", \"start\": 23, \"end\": 37, \"planning\": \"Continue dragging until cloth is folded, then open gripper to release the cloth in place.\"},\n {\"id\": 6, \"name\": \"retreat and reset pose\", \"start\": 38, \"end\": 39, \"planning\": \"Lift gripper away from cloth and return to a neutral resting position above the table.\"}\n ],\n \"global_plan\": \"Fold the cloth from left to right by approaching, grasping the left corner, dragging it rightward across the surface, releasing after fold completion, and retreating.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segments 1-2 (open gripper), active grasp and drag in segments 3-4 (closing gripper), release in segment 5 (opening), and retreat in segment 6 (fully open). Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth left edge", + "start": 0, + "end": 6, + "planning": "Move gripper toward the left edge of the cloth without closing, preparing for contact." + }, + { + "id": 2, + "name": "make contact and stabilize", + "start": 7, + "end": 9, + "planning": "Gently touch and stabilize position at the left edge of the cloth to prepare for folding." + }, + { + "id": 3, + "name": "grasp and lift left corner", + "start": 10, + "end": 19, + "planning": "Close gripper to grasp the left corner of the cloth and lift it slightly to initiate fold." + }, + { + "id": 4, + "name": "drag cloth rightward", + "start": 20, + "end": 22, + "planning": "Maintain grip and drag the cloth horizontally to the right to begin folding motion." + }, + { + "id": 5, + "name": "complete fold and release", + "start": 23, + "end": 37, + "planning": "Continue dragging until cloth is folded, then open gripper to release the cloth in place." + }, + { + "id": 6, + "name": "retreat and reset pose", + "start": 38, + "end": 39, + "planning": "Lift gripper away from cloth and return to a neutral resting position above the table." + } + ], + "global_plan": "Fold the cloth from left to right by approaching, grasping the left corner, dragging it rightward across the surface, releasing after fold completion, and retreating.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segments 1-2 (open gripper), active grasp and drag in segments 3-4 (closing gripper), release in segment 5 (opening), and retreat in segment 6 (fully open). Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Fold the cloth from left to right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26748356223106384, + 0.1973542720079422, + 0.12052276730537415, + -3.0986177921295166, + -0.38878846168518066, + 0.06316492706537247 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26699167490005493, + 0.195951908826828, + 0.10936857014894485, + -3.124392032623291, + -0.3643343448638916, + 0.06934450566768646 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2580978572368622, + 0.2155124545097351, + 0.09852472692728043, + -3.1346356868743896, + -0.3746231198310852, + 0.10967158526182175 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cloth": [ + 3, + 539, + 649, + 994 + ], + "cardboard box": [ + 241, + 7, + 994, + 588 + ], + "teal object": [ + 733, + 528, + 808, + 684 + ], + "table": [ + 4, + 285, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25223079323768616, + 0.23226326704025269, + 0.08981287479400635, + -3.114264965057373, + -0.39261025190353394, + 0.14187292754650116 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper remains open and is moving toward the left edge of the cloth. The next action should continue approaching the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move down 3 cm, keep gripper open; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23875896632671356, + 0.2600323557853699, + 0.07914401590824127, + -3.1332364082336426, + -0.37521833181381226, + 0.21220509707927704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper remains open and is moving toward the left edge of the cloth. The next action should continue approaching the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2276764065027237, + 0.2851567268371582, + 0.07182392477989197, + -3.1358821392059326, + -0.3706996738910675, + 0.23717328906059265 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper remains open and is moving toward the left edge of the cloth. The next action should continue approaching the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2093873918056488, + 0.3014012277126312, + 0.06475286185741425, + -3.120304584503174, + -0.38445383310317993, + 0.2145794928073883 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper remains open and is moving toward the left edge of the cloth. The next action should continue approaching the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, keep gripper open; then move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.18723924458026886, + 0.31641286611557007, + 0.0632801204919815, + 3.1204755306243896, + -0.3628062605857849, + 0.22525207698345184 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "make contact and stabilize", + "subtask_reasoning": "The robot is positioned above the table with the cloth visible on the left side. No actions have been completed yet as this is the initial approach phase. The gripper remains open and is moving toward the left edge of the cloth. The next action should continue approaching the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1695253700017929, + 0.3274308443069458, + 0.06183424964547157, + 3.1016597747802734, + -0.35336410999298096, + 0.21588067710399628 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "make contact and stabilize", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with it, stabilizing its position. No grasping has occurred yet as per segment-level gripper evidence. The next likely action is to prepare for dragging the cloth rightward by ensuring firm contact or initiating a grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.16277837753295898, + 0.33055928349494934, + 0.056840889155864716, + 3.132063865661621, + -0.3585287034511566, + 0.19040252268314362 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "make contact and stabilize", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with it, stabilizing its position. No grasping has occurred yet as per segment-level gripper evidence. The next likely action is to prepare for dragging the cloth rightward by ensuring firm contact or initiating a grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.15999090671539307, + 0.33689042925834656, + 0.050445422530174255, + -3.1210739612579346, + -0.3614633083343506, + 0.1754205822944641 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with it, stabilizing its position. No grasping has occurred yet as per segment-level gripper evidence. The next likely action is to prepare for dragging the cloth rightward by ensuring firm contact or initiating a grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.15554891526699066, + 0.33806881308555603, + 0.043331705033779144, + -3.100576162338257, + -0.35048046708106995, + 0.17647558450698853 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with it, stabilizing its position. No grasping has occurred yet as per segment-level gripper evidence. The next likely action is to prepare for dragging the cloth rightward by ensuring firm contact or initiating a grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.14896681904792786, + 0.33796098828315735, + 0.02833792380988598, + -3.0810937881469727, + -0.31301793456077576, + 0.1861722618341446 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with it, stabilizing its position. No grasping has occurred yet as per segment-level gripper evidence. The next likely action is to prepare for dragging the cloth rightward by ensuring firm contact or initiating a grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move right 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.1429598480463028, + 0.3386213183403015, + 0.016621241346001625, + -3.0575132369995117, + -0.27926892042160034, + 0.18915140628814697 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with it, stabilizing its position. No grasping has occurred yet as per segment-level gripper evidence. The next likely action is to prepare for dragging the cloth rightward by ensuring firm contact or initiating a grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1409894973039627, + 0.33598050475120544, + 0.009454949758946896, + -3.037759304046631, + -0.27561283111572266, + 0.18943579494953156 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached and made contact with the left corner of the cloth on the table. The gripper is currently open and positioned above the cloth, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.1426035314798355, + 0.33436328172683716, + 0.002099952194839716, + -3.007108211517334, + -0.27752116322517395, + 0.1819143146276474 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached and made contact with the left corner of the cloth on the table. The gripper is currently open and positioned above the cloth, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.14554622769355774, + 0.3328189253807068, + 0.0007832907722331583, + -2.970435857772827, + -0.2813665568828583, + 0.17204736173152924 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached and made contact with the left corner of the cloth on the table. The gripper is currently open and positioned above the cloth, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 3 cm, move right 7 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.14709410071372986, + 0.33666929602622986, + -0.0007318691350519657, + -2.940624952316284, + -0.2845974564552307, + 0.18579033017158508 + ], + "gripper_value": 0.9723638892173767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached and made contact with the left corner of the cloth on the table. The gripper is currently open and positioned above the cloth, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 4 cm, move right 11 cm, move up 8 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.15175755321979523, + 0.3366575241088867, + -0.0014339853078126907, + -2.9203999042510986, + -0.26932966709136963, + 0.17976923286914825 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached and made contact with the left corner of the cloth on the table. The gripper is currently open and positioned above the cloth, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move right 14 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.15385465323925018, + 0.33941638469696045, + -0.0030712694860994816, + -2.9261934757232666, + -0.27497273683547974, + 0.20494987070560455 + ], + "gripper_value": 0.5236935019493103 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cloth": [ + 3, + 552, + 609, + 994 + ], + "teal object": [ + 733, + 528, + 807, + 683 + ], + "table": [ + 4, + 284, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "grasp and lift left corner", + "subtask_reasoning": "The robot has approached and made contact with the left corner of the cloth on the table. The gripper is currently open and positioned above the cloth, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 7 cm, move right 19 cm, move up 10 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.15651434659957886, + 0.34149542450904846, + -0.01945233903825283, + -2.9491045475006104, + -0.2601504325866699, + 0.2280985414981842 + ], + "gripper_value": 0.24523308873176575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached and made contact with the left corner of the cloth on the table. The gripper is currently open and positioned above the cloth, indicating readiness to grasp. The next action should be to close the gripper to securely grasp the left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 7 cm, move right 21 cm, move up 10 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.15746045112609863, + 0.3416021168231964, + -0.01771245151758194, + -2.960803747177124, + -0.2521311342716217, + 0.2350599467754364 + ], + "gripper_value": 0.09143470972776413 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 9 cm, move right 24 cm, move up 11 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.15858015418052673, + 0.3301140367984772, + -0.003694687271490693, + -3.042165517807007, + -0.23410165309906006, + 0.2408783882856369 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 10 cm, move right 26 cm, move up 11 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.16314029693603516, + 0.2977938652038574, + 0.013899076730012894, + 3.0953798294067383, + -0.2080400586128235, + 0.23440203070640564 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 27 cm, move up 12 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.1650964915752411, + 0.28250375390052795, + 0.04783419147133827, + 3.049006223678589, + -0.2300940304994583, + 0.2448030412197113 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 26 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.17563320696353912, + 0.2553407549858093, + 0.06768425554037094, + 3.0111160278320312, + -0.21966858208179474, + 0.25985604524612427 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 24 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.19301943480968475, + 0.22625020146369934, + 0.08342486619949341, + 3.000871419906616, + -0.21495471894741058, + 0.2695859968662262 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 21 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.20785681903362274, + 0.18570570647716522, + 0.09799196571111679, + 2.9944088459014893, + -0.20819933712482452, + 0.2434261590242386 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 17 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21777358651161194, + 0.15336890518665314, + 0.10456769168376923, + 2.9766337871551514, + -0.17265978455543518, + 0.23810072243213654 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 13 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22996890544891357, + 0.10777893662452698, + 0.11346709728240967, + 2.968623638153076, + -0.14865224063396454, + 0.22463475167751312 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "teal object": [ + 733, + 528, + 808, + 684 + ], + "cardboard box": [ + 241, + 7, + 994, + 588 + ], + "white cloth": [ + 3, + 469, + 644, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot is currently holding the left corner of the white cloth, having successfully stabilized its grip. The end-effector is positioned to initiate the rightward dragging motion required to fold the fabric. The immediate next action is to translate the gripper horizontally to the right, pulling the cloth across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23666849732398987, + 0.08429007977247238, + 0.11588289588689804, + 2.954955816268921, + -0.10630062967538834, + 0.25677743554115295 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24920642375946045, + 0.054358117282390594, + 0.12399014830589294, + 2.93294620513916, + -0.07970834523439407, + 0.24569596350193024 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26082801818847656, + 0.03769144043326378, + 0.12679171562194824, + 2.911428213119507, + -0.06836292892694473, + 0.2555387020111084 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27556198835372925, + 0.027016056701540947, + 0.1289428025484085, + 2.896042585372925, + -0.04833101108670235, + 0.2754092514514923 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cloth": [ + 7, + 430, + 661, + 994 + ], + "teal object": [ + 733, + 528, + 807, + 684 + ], + "cardboard box": [ + 339, + 11, + 994, + 581 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868238687515259, + 0.02112386003136635, + 0.12143551558256149, + 2.8918662071228027, + -0.023102685809135437, + 0.29486268758773804 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.29516103863716125, + 0.016553940251469612, + 0.11333286762237549, + 2.8826589584350586, + 0.002838541055098176, + 0.29182514548301697 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2981364130973816, + 0.014915648847818375, + 0.11144021153450012, + 2.8698604106903076, + 0.01666179858148098, + 0.2739759087562561 + ], + "gripper_value": 0.21919596195220947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944449782371521, + 0.014146310277283192, + 0.11367259174585342, + 2.838294506072998, + 0.04023562744259834, + 0.2557193636894226 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The cloth has been dragged rightward and is now folded on the table surface. The gripper is in contact with the left edge but shows minimal motion and stable low grip value, indicating the fold is complete. The next action is to release the cloth and retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2902296483516693, + 0.019053852185606956, + 0.11953102052211761, + 2.8041388988494873, + 0.0679628849029541, + 0.24445390701293945 + ], + "gripper_value": 0.7418107390403748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "retreat and reset pose", + "subtask_reasoning": "The cloth has been successfully folded from left to right and lies flat on the table. The robot gripper is open and positioned above the cloth, indicating completion of the folding action. The next step is to retreat and reset the robot pose to a neutral position away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826276421546936, + 0.024450642988085747, + 0.13372260332107544, + 2.7530336380004883, + 0.053987324237823486, + 0.20219895243644714 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and stabilize" + }, + { + "id": 3, + "subtask": "grasp and lift left corner" + }, + { + "id": 4, + "subtask": "drag cloth rightward" + }, + { + "id": 5, + "subtask": "complete fold and release" + }, + { + "id": 6, + "subtask": "retreat and reset pose" + } + ], + "subtask_name": "retreat and reset pose", + "subtask_reasoning": "The cloth has been successfully folded from left to right and lies flat on the table. The robot gripper is open and positioned above the cloth, indicating completion of the folding action. The next step is to retreat and reset the robot pose to a neutral position away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000776_ecot.json b/cot/chunk-0000/episode_0000776_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2d3a8cd15d28371199b3c2b2d34935f9fcee182a --- /dev/null +++ b/cot/chunk-0000/episode_0000776_ecot.json @@ -0,0 +1,1887 @@ +{ + "task_name": "episode_0000776", + "episode_json": "json/chunk-0000/episode_0000776.json", + "video_path": "videos/chunk-0000/image_0/episode_0000776.mp4", + "instruction": "Put a yellow block in the middle of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000776.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.5030556917190552, + "std": 0.23565420508384705, + "delta_total": 0.010467112064361572, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.50306, std=0.23565, total_delta=0.01047). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 11 + ], + [ + 3, + 12, + 19 + ], + [ + 4, + 20, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow block\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the yellow block on the table without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp yellow block\", \"start\": 8, \"end\": 11, \"planning\": \"Close gripper around the yellow block as evidenced by meaningful gripper closure and stable position.\"},\n {\"id\": 3, \"name\": \"transport yellow block\", \"start\": 12, \"end\": 19, \"planning\": \"Carry the grasped yellow block across the table to target location while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 20, \"end\": 28, \"planning\": \"Open gripper to release yellow block at center of table, then retract end-effector upward and away.\"}\n ],\n \"global_plan\": \"Approach the yellow block, grasp it securely, transport it to the center of the table, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms grasp only in segments 2 and 4; segment 3 shows no gripper change but motion implies transport with held object; segment 4 ends with gripper opening consistent with release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow block", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the yellow block on the table without closing gripper." + }, + { + "id": 2, + "name": "grasp yellow block", + "start": 8, + "end": 11, + "planning": "Close gripper around the yellow block as evidenced by meaningful gripper closure and stable position." + }, + { + "id": 3, + "name": "transport yellow block", + "start": 12, + "end": 19, + "planning": "Carry the grasped yellow block across the table to target location while maintaining grip." + }, + { + "id": 4, + "name": "release and retreat", + "start": 20, + "end": 28, + "planning": "Open gripper to release yellow block at center of table, then retract end-effector upward and away." + } + ], + "global_plan": "Approach the yellow block, grasp it securely, transport it to the center of the table, then release and retreat.", + "notes": "Gripper evidence confirms grasp only in segments 2 and 4; segment 3 shows no gripper change but motion implies transport with held object; segment 4 ends with gripper opening consistent with release." + } + }, + "episode_goal": "Place the yellow block in the center of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40173792839050293, + 0.15381012856960297, + 0.21137085556983948, + 2.9753172397613525, + -0.19721853733062744, + 1.4626376628875732 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.40347811579704285, + 0.15440116822719574, + 0.1913681924343109, + 3.0233309268951416, + -0.17501434683799744, + 1.4539108276367188 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.42363250255584717, + 0.1609911173582077, + 0.1716669797897339, + 3.0749495029449463, + -0.1621159017086029, + 1.3589625358581543 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4288533329963684, + 0.1642218828201294, + 0.16766811907291412, + 3.1090567111968994, + -0.15742366015911102, + 1.3138611316680908 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "computer tower": [ + 742, + 2, + 927, + 188 + ], + "table": [ + 7, + 5, + 993, + 992 + ], + "yellow block": [ + 413, + 1, + 492, + 80 + ], + "red block": [ + 550, + 87, + 682, + 220 + ], + "white block": [ + 554, + 179, + 690, + 283 + ], + "blue block": [ + 49, + 197, + 130, + 292 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.43020346760749817, + 0.16575251519680023, + 0.16268907487392426, + 3.116270065307617, + -0.16990946233272552, + 1.2829471826553345 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4291245639324188, + 0.16312381625175476, + 0.15055908262729645, + 3.13215970993042, + -0.1471453458070755, + 1.2372077703475952 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move down 1 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.42449676990509033, + 0.15825285017490387, + 0.15476123988628387, + 3.122722625732422, + -0.13548636436462402, + 1.1884924173355103 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move down 1 cm, close gripper; then move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4184955656528473, + 0.15699610114097595, + 0.1605970561504364, + 3.1174938678741455, + -0.1496414840221405, + 1.1656630039215088 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 1 cm, close gripper; then move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.41525888442993164, + 0.15717321634292603, + 0.14990422129631042, + -3.1415436267852783, + -0.13999564945697784, + 1.1502119302749634 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot is positioned near the table with the yellow block visible in the center stack. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the yellow block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 2 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4136851727962494, + 0.16044841706752777, + 0.14450643956661224, + -3.120753526687622, + -0.15352708101272583, + 1.1370811462402344 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the yellow block securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 13 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.41303449869155884, + 0.16047970950603485, + 0.14187750220298767, + -3.113532066345215, + -0.1501135230064392, + 1.1250401735305786 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the yellow block securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41314536333084106, + 0.1589062213897705, + 0.14118081331253052, + -3.1402416229248047, + -0.12041261047124863, + 1.1369234323501587 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the yellow block securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4137937128543854, + 0.16128666698932648, + 0.14092454314231873, + 3.1365272998809814, + -0.12681633234024048, + 1.1398568153381348 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 6, + 994, + 991 + ], + "computer tower": [ + 742, + 3, + 925, + 188 + ], + "white block": [ + 553, + 179, + 690, + 284 + ], + "red block": [ + 550, + 88, + 683, + 221 + ], + "yellow block": [ + 405, + 1, + 487, + 86 + ], + "blue block": [ + 49, + 198, + 131, + 291 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the yellow block securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4139781892299652, + 0.1613505333662033, + 0.14162826538085938, + 3.1343166828155518, + -0.12895362079143524, + 1.1400048732757568 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the yellow block securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4142584502696991, + 0.15990887582302094, + 0.14071816205978394, + 3.1289680004119873, + -0.12128543108701706, + 1.140305519104004 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot has approached the yellow block and is now positioned above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the yellow block securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41401275992393494, + 0.15555672347545624, + 0.1455051600933075, + 3.0970406532287598, + -0.0993005633354187, + 1.142822027206421 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4111882150173187, + 0.15160797536373138, + 0.16818517446517944, + 3.0341720581054688, + -0.10541407763957977, + 1.1315956115722656 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4051652252674103, + 0.13411720097064972, + 0.18016238510608673, + 2.996711254119873, + -0.10861951857805252, + 1.0437877178192139 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 13 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.39759984612464905, + 0.09339147061109543, + 0.18106409907341003, + 3.020378589630127, + -0.1380559355020523, + 0.8624600172042847 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 4 cm, move left 1 cm, move down 9 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839417099952698, + 0.03205996751785278, + 0.17643141746520996, + 3.101196050643921, + -0.21439237892627716, + 0.6311448812484741 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport yellow block", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 1 cm, move down 9 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3647688329219818, + -0.00031302866409532726, + 0.15493880212306976, + -3.0588059425354004, + -0.27538228034973145, + 0.42707309126853943 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 9 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34585216641426086, + -0.013819575309753418, + 0.1288759708404541, + -2.984931468963623, + -0.2693529725074768, + 0.30567118525505066 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360781669616699, + -0.017089134082198143, + 0.1062416210770607, + -2.9931719303131104, + -0.24982920289039612, + 0.2889041304588318 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357357680797577, + -0.021691249683499336, + 0.08965559303760529, + -3.0446696281433105, + -0.1884763091802597, + 0.28669968247413635 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently transporting the yellow block toward the center of the table, having already approached and grasped it. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to continue moving the block to the target center position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33434611558914185, + -0.01590021513402462, + 0.07315435260534286, + -3.042893886566162, + -0.13269342482089996, + 0.2898067831993103 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 6, + 6, + 992, + 991 + ], + "computer tower": [ + 540, + 10, + 818, + 393 + ], + "red block": [ + 453, + 56, + 520, + 164 + ], + "blue block": [ + 48, + 197, + 131, + 291 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow block is currently held by the gripper above the table center, indicating the transport phase is complete. The gripper is open (value ~0.506), suggesting the block has been released or is in the process of being released. The next action is to retreat the end-effector away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304634392261505, + -0.010904255323112011, + 0.06202133744955063, + -3.0068142414093018, + -0.12339922785758972, + 0.27928435802459717 + ], + "gripper_value": 0.506233811378479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow block is currently held by the gripper above the table center, indicating the transport phase is complete. The gripper is open (value ~0.506), suggesting the block has been released or is in the process of being released. The next action is to retreat the end-effector away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32994893193244934, + -0.00872960314154625, + 0.051844459027051926, + -2.9837324619293213, + -0.10375014692544937, + 0.2716459333896637 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow block is currently held by the gripper above the table center, indicating the transport phase is complete. The gripper is open (value ~0.506), suggesting the block has been released or is in the process of being released. The next action is to retreat the end-effector away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32725629210472107, + -0.0070837861858308315, + 0.05000828951597214, + -2.989290714263916, + -0.08834705501794815, + 0.28984418511390686 + ], + "gripper_value": 0.8836284875869751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow block is currently held by the gripper above the table center, indicating the transport phase is complete. The gripper is open (value ~0.506), suggesting the block has been released or is in the process of being released. The next action is to retreat the end-effector away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3259187936782837, + 0.005983678624033928, + 0.06939799338579178, + -3.0257198810577393, + -0.11154530197381973, + 0.3735930919647217 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow block in the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow block" + }, + { + "id": 2, + "subtask": "grasp yellow block" + }, + { + "id": 3, + "subtask": "transport yellow block" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow block is currently held by the gripper above the table center, indicating the transport phase is complete. The gripper is open (value ~0.506), suggesting the block has been released or is in the process of being released. The next action is to retreat the end-effector away from the table to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000777_ecot.json b/cot/chunk-0000/episode_0000777_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d860b7ade1bb73a316e6772233ea3c2544bfbf86 --- /dev/null +++ b/cot/chunk-0000/episode_0000777_ecot.json @@ -0,0 +1,2190 @@ +{ + "task_name": "episode_0000777", + "episode_json": "json/chunk-0000/episode_0000777.json", + "video_path": "videos/chunk-0000/image_0/episode_0000777.mp4", + "instruction": "Take corn out of bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000777.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.7306715250015259, + "std": 0.32432931661605835, + "delta_total": -0.050949156284332275, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73067, std=0.32433, total_delta=-0.05095). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 211, + 211, + 211, + 211, + 228, + 228 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 4 + ], + [ + 3, + 5, + 10 + ], + [ + 4, + 11, + 15 + ], + [ + 5, + 16, + 23 + ], + [ + 6, + 24, + 27 + ], + [ + 7, + 28, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sink area\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from initial position toward the sink where the corn bowl is located.\"},\n {\"id\": 2, \"name\": \"position over corn bowl\", \"start\": 5, \"end\": 10, \"planning\": \"Align gripper above the blue bowl containing corn and begin closing gripper to prepare for grasp.\"},\n {\"id\": 3, \"name\": \"grasp corn cob\", \"start\": 11, \"end\": 15, \"planning\": \"Close gripper around corn cob while maintaining contact with bowl to secure object before lift.\"},\n {\"id\": 4, \"name\": \"lift and reposition corn\", \"start\": 16, \"end\": 23, \"planning\": \"Lift corn cob out of bowl and move it laterally away from sink basin while holding securely.\"},\n {\"id\": 5, \"name\": \"place corn on counter\", \"start\": 24, \"end\": 27, \"planning\": \"Lower corn cob onto countertop surface and release grip to complete placement.\"},\n {\"id\": 6, \"name\": \"retreat and open gripper\", \"start\": 28, \"end\": 29, \"planning\": \"Withdraw end-effector from placed corn and fully open gripper to conclude task.\"}\n ],\n \"global_plan\": \"Approach sink, grasp corn cob from bowl, lift and transport to counter, place down, then retreat with open gripper.\",\n \"notes\": \"Gripper closure confirmed in segments 3 and 7; grasp wording used only where supported by both motion and image evidence. Segment 5 shows stable hold during transport, consistent with gripping. Final release observed in segment 7 via gripper opening.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sink area", + "start": 0, + "end": 4, + "planning": "Move the end-effector from initial position toward the sink where the corn bowl is located." + }, + { + "id": 2, + "name": "position over corn bowl", + "start": 5, + "end": 10, + "planning": "Align gripper above the blue bowl containing corn and begin closing gripper to prepare for grasp." + }, + { + "id": 3, + "name": "grasp corn cob", + "start": 11, + "end": 15, + "planning": "Close gripper around corn cob while maintaining contact with bowl to secure object before lift." + }, + { + "id": 4, + "name": "lift and reposition corn", + "start": 16, + "end": 23, + "planning": "Lift corn cob out of bowl and move it laterally away from sink basin while holding securely." + }, + { + "id": 5, + "name": "place corn on counter", + "start": 24, + "end": 27, + "planning": "Lower corn cob onto countertop surface and release grip to complete placement." + }, + { + "id": 6, + "name": "retreat and open gripper", + "start": 28, + "end": 29, + "planning": "Withdraw end-effector from placed corn and fully open gripper to conclude task." + } + ], + "global_plan": "Approach sink, grasp corn cob from bowl, lift and transport to counter, place down, then retreat with open gripper.", + "notes": "Gripper closure confirmed in segments 3 and 7; grasp wording used only where supported by both motion and image evidence. Segment 5 shows stable hold during transport, consistent with gripping. Final release observed in segment 7 via gripper opening." + } + }, + "episode_goal": "Pick up the corn from the blue bowl in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.39363962411880493, + 0.06486130505800247, + 0.07205963879823685, + -3.124887704849243, + -0.26637452840805054, + 0.27750977873802185 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink, with the blue bowl containing corn visible below. No objects have been interacted with yet. The gripper is open and stationary, indicating the robot is preparing to move closer to the bowl. The next action should be to lower the end effector toward the corn in the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3871425986289978, + 0.06358062475919724, + 0.055317867547273636, + -3.119664430618286, + -0.21428486704826355, + 0.2749066650867462 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink, with the blue bowl containing corn visible below. No objects have been interacted with yet. The gripper is open and stationary, indicating the robot is preparing to move closer to the bowl. The next action should be to lower the end effector toward the corn in the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37571701407432556, + 0.04027833789587021, + 0.04587584361433983, + -3.1278834342956543, + -0.14882418513298035, + 0.2146025002002716 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned near the sink with the blue bowl containing corn visible. No objects have been grasped yet as the gripper remains open. The robot needs to continue moving closer to the bowl to prepare for the next subtask of grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36455753445625305, + 0.014816677197813988, + 0.03754648566246033, + -3.137747049331665, + -0.1040060967206955, + 0.14953312277793884 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 403, + 236, + 535, + 390 + ], + "stove top": [ + 3, + 5, + 378, + 328 + ], + "sink": [ + 287, + 134, + 849, + 584 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned near the sink with the blue bowl containing corn visible. No objects have been grasped yet as the gripper remains open. The robot needs to continue moving closer to the bowl to prepare for the next subtask of grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3624080419540405, + -0.006279278546571732, + 0.045723333954811096, + 3.1308228969573975, + -0.10224492847919464, + 0.11084654927253723 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned near the sink with the blue bowl containing corn visible. No objects have been grasped yet as the gripper remains open. The robot needs to continue moving closer to the bowl to prepare for the next subtask of grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 4 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3636418879032135, + -0.01957022398710251, + 0.044736575335264206, + -3.135648727416992, + -0.12152508646249771, + 0.11790215969085693 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "position over corn bowl", + "subtask_reasoning": "The robot is positioned near the sink with the blue bowl containing corn visible. No objects have been grasped yet as the gripper remains open. The robot needs to continue moving closer to the bowl to prepare for the next subtask of grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669007420539856, + -0.026239192113280296, + 0.0424184575676918, + -3.116215229034424, + -0.1447533220052719, + 0.14061731100082397 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "position over corn bowl", + "subtask_reasoning": "The robot is positioned near the sink with the blue bowl containing corn visible. No objects have been grasped yet as the gripper remains open. The robot needs to continue moving closer to the bowl to prepare for the next subtask of grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.367895245552063, + -0.02801496908068657, + 0.03331880643963814, + -3.106524705886841, + -0.1411149799823761, + 0.14947845041751862 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "position over corn bowl", + "subtask_reasoning": "The robot is positioned over the sink with the blue bowl containing corn visible below. The gripper is open and hovering above the bowl, indicating the approach phase is complete. The next action is to lower the arm to make contact with the corn cob for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then move up 3 cm, tilt right 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3702109456062317, + -0.032549094408750534, + 0.024031678214669228, + -3.0883288383483887, + -0.15160270035266876, + 0.15268459916114807 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "position over corn bowl", + "subtask_reasoning": "The robot is positioned over the sink with the blue bowl containing corn visible below. The gripper is open and hovering above the bowl, indicating the approach phase is complete. The next action is to lower the arm to make contact with the corn cob for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move up 3 cm, tilt right 10 degrees, keep gripper closed; then move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3717370629310608, + -0.032545700669288635, + 0.0188903845846653, + -3.080792188644409, + -0.15891648828983307, + 0.16941078007221222 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "position over corn bowl", + "subtask_reasoning": "The robot is positioned over the sink with the blue bowl containing corn visible below. The gripper is open and hovering above the bowl, indicating the approach phase is complete. The next action is to lower the arm to make contact with the corn cob for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.37185975909233093, + -0.033088091760873795, + 0.009282464161515236, + -3.06207013130188, + -0.15575695037841797, + 0.17241168022155762 + ], + "gripper_value": 0.7309711575508118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "position over corn bowl", + "subtask_reasoning": "The robot is positioned over the sink with the blue bowl containing corn visible below. The gripper is open and hovering above the bowl, indicating the approach phase is complete. The next action is to lower the arm to make contact with the corn cob for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move left 8 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37342092394828796, + -0.03778360038995743, + 0.009152664802968502, + -3.0600624084472656, + -0.17082113027572632, + 0.17090082168579102 + ], + "gripper_value": 0.4247366487979889 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot is positioned over the sink with the blue bowl containing corn visible below. The gripper is open and hovering above the bowl, indicating the approach phase is complete. The next action is to lower the arm to make contact with the corn cob for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37415221333503723, + -0.03972937911748886, + 0.008665509521961212, + -3.05314040184021, + -0.17807550728321075, + 0.17342109978199005 + ], + "gripper_value": 0.29134905338287354 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot is positioned over the sink with the blue bowl containing corn visible below. The gripper is open and hovering above the bowl, indicating the approach phase is complete. The next action is to lower the arm to make contact with the corn cob for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3736177086830139, + -0.04105794057250023, + 0.008501305244863033, + -3.0580623149871826, + -0.1745312362909317, + 0.17608164250850677 + ], + "gripper_value": 0.26948168873786926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned directly over the corn cob in the blue bowl within the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 4 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724798560142517, + -0.043242450803518295, + 0.009351905435323715, + -3.0746307373046875, + -0.155519500374794, + 0.17719143629074097 + ], + "gripper_value": 0.29885798692703247 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned directly over the corn cob in the blue bowl within the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move back 4 cm, move left 10 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697492182254791, + -0.043141692876815796, + 0.014634927734732628, + -3.109741687774658, + -0.10751067101955414, + 0.1961330771446228 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "grasp corn cob", + "subtask_reasoning": "The robot arm is positioned directly over the corn cob in the blue bowl within the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move back 4 cm, move left 10 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726740777492523, + -0.0401497446000576, + 0.040550488978624344, + 3.120697498321533, + -0.12396807968616486, + 0.19859954714775085 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn cob in the blue bowl within the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3732663691043854, + -0.0289433803409338, + 0.0489010214805603, + 3.096503496170044, + -0.11162500828504562, + 0.2085648775100708 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn cob in the blue bowl within the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3740718364715576, + -0.008054031990468502, + 0.07129423320293427, + 3.053281307220459, + -0.1448078602552414, + 0.2233765721321106 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot arm is positioned directly over the corn cob in the blue bowl within the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the corn cob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 4 cm, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669659495353699, + 0.014842270873486996, + 0.07369044423103333, + 3.0467188358306885, + -0.12457509338855743, + 0.2355235069990158 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 402, + 243, + 528, + 391 + ], + "sink": [ + 287, + 134, + 850, + 585 + ], + "stove top": [ + 3, + 5, + 377, + 328 + ], + "colander": [ + 580, + 365, + 741, + 543 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot is positioned over the sink with the corn cob in contact with the gripper, having completed the approach phase. Since segment-level evidence shows no gripper closing, the corn is not yet grasped but is being contacted or nudged. The next action should involve adjusting the gripper to securely grasp the corn cob before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35926491022109985, + 0.03692009299993515, + 0.0661623626947403, + 3.052615165710449, + -0.11375659704208374, + 0.2318972796201706 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot is positioned over the sink with the corn cob in contact with the gripper, having completed the approach phase. Since segment-level evidence shows no gripper closing, the corn is not yet grasped but is being contacted or nudged. The next action should involve adjusting the gripper to securely grasp the corn cob before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 4 cm, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35024377703666687, + 0.05302033945918083, + 0.0563412606716156, + 3.0830445289611816, + -0.10505056381225586, + 0.20794321596622467 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 287, + 162, + 847, + 583 + ], + "stove top": [ + 3, + 5, + 375, + 328 + ], + "blue sponge": [ + 313, + 406, + 427, + 549 + ], + "red pepper": [ + 404, + 248, + 545, + 393 + ], + "colander": [ + 582, + 364, + 741, + 542 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot is positioned over the sink with the corn cob in contact with the gripper, having completed the approach phase. Since segment-level evidence shows no gripper closing, the corn is not yet grasped but is being contacted or nudged. The next action should involve adjusting the gripper to securely grasp the corn cob before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33871594071388245, + 0.05861381068825722, + 0.04312264174222946, + 3.1051225662231445, + -0.08997252583503723, + 0.17637597024440765 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot is positioned over the sink with the corn cob in contact with the gripper, having completed the approach phase. Since segment-level evidence shows no gripper closing, the corn is not yet grasped but is being contacted or nudged. The next action should involve adjusting the gripper to securely grasp the corn cob before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33205774426460266, + 0.060771286487579346, + 0.03403005376458168, + 3.126814842224121, + -0.09241284430027008, + 0.1718841940164566 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "lift and reposition corn", + "subtask_reasoning": "The robot is positioned over the sink with the corn cob in contact with the gripper, having completed the approach phase. Since segment-level evidence shows no gripper closing, the corn is not yet grasped but is being contacted or nudged. The next action should involve adjusting the gripper to securely grasp the corn cob before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.33259448409080505, + 0.056505002081394196, + 0.028833381831645966, + -3.135770559310913, + -0.11658456176519394, + 0.16344256699085236 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "place corn on counter", + "subtask_reasoning": "The robot is positioned over the sink with the corn cob in contact with the gripper, having completed the approach phase. Since segment-level evidence shows no gripper closing, the corn is not yet grasped but is being contacted or nudged. The next action should involve adjusting the gripper to securely grasp the corn cob before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.331074982881546, + 0.047541406005620956, + 0.022764895111322403, + -3.134014368057251, + -0.125973179936409, + 0.15436811745166779 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "place corn on counter", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink, having successfully lifted it from the blue bowl. The gripper is closed, and the arm is positioned to move the object toward the counter. The next action is to transport the corn cob over the counter surface to place it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3275294601917267, + 0.036334775388240814, + 0.0199776291847229, + -3.1368191242218018, + -0.11080998927354813, + 0.14992091059684753 + ], + "gripper_value": 0.300372838973999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "place corn on counter", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink, having successfully lifted it from the blue bowl. The gripper is closed, and the arm is positioned to move the object toward the counter. The next action is to transport the corn cob over the counter surface to place it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32712799310684204, + 0.02871633507311344, + 0.019086629152297974, + -3.1232404708862305, + -0.10919639468193054, + 0.14272350072860718 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "place corn on counter", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink, having successfully lifted it from the blue bowl. The gripper is closed, and the arm is positioned to move the object toward the counter. The next action is to transport the corn cob over the counter surface to place it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.32832953333854675, + 0.027764782309532166, + 0.01931171864271164, + -3.106036901473999, + -0.117670439183712, + 0.14112301170825958 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot has successfully lifted the corn cob from the blue bowl and is positioned above the sink. The gripper is currently closed around the object, and the next action is to retreat from the sink area while maintaining the grasp before opening the gripper to release the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32801851630210876, + 0.02506854385137558, + 0.01780558191239834, + -3.0899744033813477, + -0.12542016804218292, + 0.13722987473011017 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the corn from the blue bowl in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn bowl" + }, + { + "id": 3, + "subtask": "grasp corn cob" + }, + { + "id": 4, + "subtask": "lift and reposition corn" + }, + { + "id": 5, + "subtask": "place corn on counter" + }, + { + "id": 6, + "subtask": "retreat and open gripper" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot has successfully lifted the corn cob from the blue bowl and is positioned above the sink. The gripper is currently closed around the object, and the next action is to retreat from the sink area while maintaining the grasp before opening the gripper to release the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 28, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000778_ecot.json b/cot/chunk-0000/episode_0000778_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9734ef454ac4dd3d4526dbfe26f25118c07c79f7 --- /dev/null +++ b/cot/chunk-0000/episode_0000778_ecot.json @@ -0,0 +1,1515 @@ +{ + "task_name": "episode_0000778", + "episode_json": "json/chunk-0000/episode_0000778.json", + "video_path": "videos/chunk-0000/image_0/episode_0000778.mp4", + "instruction": "Upright basil bottle cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000778.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.1518310308456421, + "std": 0.05910813808441162, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.15183, std=0.05911, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 16 + ], + [ + 4, + 17, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fence base\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the cardboard fence base without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"position above fence\", \"start\": 4, \"end\": 8, \"planning\": \"Adjust position and orientation above the fence base; gripper still open, no contact or grasp initiated.\"},\n {\"id\": 3, \"name\": \"grasp and lift fence\", \"start\": 9, \"end\": 16, \"planning\": \"Close gripper to grasp the cardboard fence base and lift it slightly, confirmed by gripper closure and upward motion.\"},\n {\"id\": 4, \"name\": \"reposition and release fence\", \"start\": 17, \"end\": 22, \"planning\": \"Move lifted fence to upright position and release grip, as gripper opens while maintaining support until final frame.\"}\n ],\n \"global_plan\": \"Approach the fallen cardboard fence base, grasp it securely, lift and reposition it into an upright stance, then release to complete the task.\",\n \"notes\": \"Gripper evidence confirms no grasp in segments 1–2 (open throughout), meaningful closure in segment 3 (grasp/lift), and opening in segment 4 (release). Motion and image frames align with these phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fence base", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the cardboard fence base without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "position above fence", + "start": 4, + "end": 8, + "planning": "Adjust position and orientation above the fence base; gripper still open, no contact or grasp initiated." + }, + { + "id": 3, + "name": "grasp and lift fence", + "start": 9, + "end": 16, + "planning": "Close gripper to grasp the cardboard fence base and lift it slightly, confirmed by gripper closure and upward motion." + }, + { + "id": 4, + "name": "reposition and release fence", + "start": 17, + "end": 22, + "planning": "Move lifted fence to upright position and release grip, as gripper opens while maintaining support until final frame." + } + ], + "global_plan": "Approach the fallen cardboard fence base, grasp it securely, lift and reposition it into an upright stance, then release to complete the task.", + "notes": "Gripper evidence confirms no grasp in segments 1–2 (open throughout), meaningful closure in segment 3 (grasp/lift), and opening in segment 4 (release). Motion and image frames align with these phases." + } + }, + "episode_goal": "Upright the basil bottle inside the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35968005657196045, + -0.07897090911865234, + 0.09474584460258484, + -2.9463372230529785, + -0.4272797107696533, + 0.02971794828772545 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "approach fence base", + "subtask_reasoning": "The robot is positioned near the fallen cardboard fence base with the gripper open and no contact established. No actions have been completed yet in this subtask. The next step is to move the end-effector closer to the fence base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 1 cm, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3545506000518799, + -0.07753022760152817, + 0.08251922577619553, + -2.9471254348754883, + -0.3804996609687805, + 0.04736407846212387 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "approach fence base", + "subtask_reasoning": "The robot is positioned above the wooden surface with the fallen cardboard fence base visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is beginning to move toward the fence base. The next action should continue approaching the fence base while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33913254737854004, + -0.06595680117607117, + 0.0774732157588005, + -3.029524087905884, + -0.24665763974189758, + 0.1997414380311966 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "approach fence base", + "subtask_reasoning": "The robot is positioned above the wooden surface with the fallen cardboard fence base visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is beginning to move toward the fence base. The next action should continue approaching the fence base while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3255242705345154, + -0.047324422746896744, + 0.08853717148303986, + -3.1054577827453613, + -0.22966164350509644, + 0.3300509750843048 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sauce bottle": [ + 542, + 435, + 678, + 775 + ], + "orange bowl": [ + 368, + 255, + 564, + 484 + ], + "banana": [ + 738, + 447, + 834, + 612 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "approach fence base", + "subtask_reasoning": "The robot is positioned above the wooden surface with the fallen cardboard fence base visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is beginning to move toward the fence base. The next action should continue approaching the fence base while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149723410606384, + -0.03362973779439926, + 0.08246929943561554, + 3.137491226196289, + -0.18669186532497406, + 0.45281702280044556 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "position above fence", + "subtask_reasoning": "The robot is positioned above the wooden surface with the fallen cardboard fence base visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is beginning to move toward the fence base. The next action should continue approaching the fence base while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115430474281311, + -0.030578184872865677, + 0.0761852115392685, + 3.121385097503662, + -0.17755945026874542, + 0.5103546380996704 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "position above fence", + "subtask_reasoning": "The robot is positioned above the wooden surface with the fallen cardboard fence base visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is beginning to move toward the fence base. The next action should continue approaching the fence base while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, keep gripper open; then move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3140673339366913, + -0.03358195722103119, + 0.07308019697666168, + 3.0761146545410156, + -0.1861240267753601, + 0.5438116788864136 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "position above fence", + "subtask_reasoning": "The robot arm is positioned above the fallen cardboard fence base with the gripper open. The approach phase is complete, and the arm is now hovering over the target. The next action is to lower the arm to make contact with the fence base for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, keep gripper open; then move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31509116291999817, + -0.03593524917960167, + 0.061517853289842606, + 3.088803291320801, + -0.172781839966774, + 0.5525105595588684 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "position above fence", + "subtask_reasoning": "The robot arm is positioned above the fallen cardboard fence base with the gripper open. The approach phase is complete, and the arm is now hovering over the target. The next action is to lower the arm to make contact with the fence base for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31805235147476196, + -0.03587505221366882, + 0.0485990010201931, + 3.1208393573760986, + -0.16990001499652863, + 0.5561614632606506 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "position above fence", + "subtask_reasoning": "The robot arm is positioned above the fallen cardboard fence base with the gripper open. The approach phase is complete, and the arm is now hovering over the target. The next action is to lower the arm to make contact with the fence base for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3186206817626953, + -0.03735876455903053, + 0.03300850838422775, + -3.1232919692993164, + -0.17157436907291412, + 0.5453423857688904 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot arm is positioned above the fallen cardboard fence base with the gripper open. The approach phase is complete, and the arm is now hovering over the target. The next action is to lower the arm to make contact with the fence base for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32016387581825256, + -0.0383150577545166, + 0.030634569004178047, + -3.115586042404175, + -0.185111865401268, + 0.5353190302848816 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sauce bottle": [ + 541, + 435, + 678, + 775 + ], + "orange bowl": [ + 368, + 257, + 531, + 487 + ], + "banana": [ + 739, + 447, + 833, + 612 + ], + "wooden tray": [ + 186, + 238, + 919, + 944 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot arm is positioned above the fallen cardboard fence base with the gripper open. The approach phase is complete, and the arm is now hovering over the target. The next action is to lower the arm to make contact with the fence base for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178591728210449, + -0.0405113585293293, + 0.022408563643693924, + -3.0962131023406982, + -0.17013098299503326, + 0.531395673751831 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot arm is positioned above the fallen cardboard fence base with the gripper open. The approach phase is complete, and the arm is now hovering over the target. The next action is to lower the arm to make contact with the fence base for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31796973943710327, + -0.041736993938684464, + 0.01699521206319332, + -3.078868865966797, + -0.1596086025238037, + 0.5131295919418335 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen cardboard fence base with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to securely grasp the fence base in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192518949508667, + -0.04166676476597786, + 0.01674424111843109, + -3.0804104804992676, + -0.1687169075012207, + 0.5166512131690979 + ], + "gripper_value": 0.8463236093521118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen cardboard fence base with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to securely grasp the fence base in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3189566731452942, + -0.042925503104925156, + 0.016790052875876427, + -3.0855941772460938, + -0.17353028059005737, + 0.5003357529640198 + ], + "gripper_value": 0.8705081939697266 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen cardboard fence base with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to securely grasp the fence base in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.317006379365921, + -0.04325026646256447, + 0.03292873501777649, + -3.0940465927124023, + -0.19433708488941193, + 0.4761473536491394 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen cardboard fence base with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to securely grasp the fence base in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper closed; then move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168504536151886, + -0.04359057918190956, + 0.05580432713031769, + -3.1094441413879395, + -0.22748060524463654, + 0.4410271942615509 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sauce bottle": [ + 538, + 382, + 673, + 731 + ], + "orange bowl": [ + 369, + 257, + 547, + 487 + ], + "wooden tray": [ + 184, + 237, + 924, + 945 + ], + "chair leg": [ + 219, + 13, + 324, + 172 + ], + "banana": [ + 738, + 447, + 833, + 613 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "grasp and lift fence", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen cardboard fence base with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to securely grasp the fence base in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31368327140808105, + -0.04397003352642059, + 0.0818723514676094, + 3.138658046722412, + -0.23883622884750366, + 0.4003225266933441 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "reposition and release fence", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen cardboard fence base with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to securely grasp the fence base in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114893138408661, + -0.04204186052083969, + 0.0978579893708229, + 3.1062469482421875, + -0.23851943016052246, + 0.391609251499176 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "reposition and release fence", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen cardboard fence base with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to securely grasp the fence base in preparation for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104359805583954, + -0.0422467477619648, + 0.10879521816968918, + 3.075568437576294, + -0.25172626972198486, + 0.3830075263977051 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "reposition and release fence", + "subtask_reasoning": "The cardboard fence is currently upright and enclosing the basil bottle, indicating the repositioning phase is complete. The gripper is open and positioned above the fence, consistent with the release action. The next step is to move the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3084617257118225, + -0.03933707997202873, + 0.1051374152302742, + 3.0964832305908203, + -0.25940290093421936, + 0.35877764225006104 + ], + "gripper_value": 0.9124506115913391 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "reposition and release fence", + "subtask_reasoning": "The cardboard fence is currently upright and enclosing the basil bottle, indicating the repositioning phase is complete. The gripper is open and positioned above the fence, consistent with the release action. The next step is to move the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3062293231487274, + -0.03980373963713646, + 0.1049695611000061, + 3.1092212200164795, + -0.24831056594848633, + 0.34558579325675964 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "reposition and release fence", + "subtask_reasoning": "The cardboard fence is currently upright and enclosing the basil bottle, indicating the repositioning phase is complete. The gripper is open and positioned above the fence, consistent with the release action. The next step is to move the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31080761551856995, + -0.04036498814821243, + 0.1137228012084961, + 3.104952096939087, + -0.2553316652774811, + 0.36512571573257446 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fence base" + }, + { + "id": 2, + "subtask": "position above fence" + }, + { + "id": 3, + "subtask": "grasp and lift fence" + }, + { + "id": 4, + "subtask": "reposition and release fence" + } + ], + "subtask_name": "reposition and release fence", + "subtask_reasoning": "The cardboard fence is currently upright and enclosing the basil bottle, indicating the repositioning phase is complete. The gripper is open and positioned above the fence, consistent with the release action. The next step is to move the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000779_ecot.json b/cot/chunk-0000/episode_0000779_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3b98a4399d1d746ad34543a9e917bc265c7d78b0 --- /dev/null +++ b/cot/chunk-0000/episode_0000779_ecot.json @@ -0,0 +1,1287 @@ +{ + "task_name": "episode_0000779", + "episode_json": "json/chunk-0000/episode_0000779.json", + "video_path": "videos/chunk-0000/image_0/episode_0000779.mp4", + "instruction": "Close brown1fbox flap.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000779.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box flap\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the brown box flap to prepare for closing.\"},\n {\"id\": 2, \"name\": \"make contact with flap\", \"start\": 6, \"end\": 10, \"planning\": \"Establish physical contact between end-effector and the box flap to initiate closure.\"},\n {\"id\": 3, \"name\": \"push flap closed\", \"start\": 11, \"end\": 17, \"planning\": \"Apply continuous pushing force via end-effector to fold the flap down into closed position.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 18, \"end\": 19, \"planning\": \"Withdraw end-effector from contact with the now-closed flap to complete the task.\"}\n ],\n \"global_plan\": \"Close the brown1fbox flap by approaching, making contact, pushing it shut, then retreating — all without grasping since gripper remains fully open throughout.\",\n \"notes\": \"Gripper never closes (value constant at ~1.008), so no grasp/pick/place actions are used; motion is purely contact-based pushing as observed in keyframes and state data.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box flap", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the brown box flap to prepare for closing." + }, + { + "id": 2, + "name": "make contact with flap", + "start": 6, + "end": 10, + "planning": "Establish physical contact between end-effector and the box flap to initiate closure." + }, + { + "id": 3, + "name": "push flap closed", + "start": 11, + "end": 17, + "planning": "Apply continuous pushing force via end-effector to fold the flap down into closed position." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 18, + "end": 19, + "planning": "Withdraw end-effector from contact with the now-closed flap to complete the task." + } + ], + "global_plan": "Close the brown1fbox flap by approaching, making contact, pushing it shut, then retreating — all without grasping since gripper remains fully open throughout.", + "notes": "Gripper never closes (value constant at ~1.008), so no grasp/pick/place actions are used; motion is purely contact-based pushing as observed in keyframes and state data." + } + }, + "episode_goal": "Close the brown1fbox flap.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22379839420318604, + -0.13153482973575592, + 0.07806192338466644, + -2.963660955429077, + -0.15676823258399963, + 0.007139583118259907 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with its gripper fully open and no contact made yet. No actions have been completed in this subtask. The next step is to move the end effector closer to the box flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 3 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21966372430324554, + -0.12688910961151123, + 0.07054003328084946, + -2.924760103225708, + -0.11946630477905273, + -0.0034847611095756292 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with its gripper fully open and no contact made yet. No actions have been completed in this subtask. The next step is to move the end effector closer to the box flap to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 4 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2179986983537674, + -0.12244133651256561, + 0.07060125470161438, + -2.841982126235962, + -0.07783307135105133, + -0.041077710688114166 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box flap with the gripper fully open and no contact made yet. The arm is in motion, approaching the flap to initiate closure. Next, the robot should continue moving forward to make contact with the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move left 4 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21818026900291443, + -0.12523801624774933, + 0.0710681676864624, + -2.7582011222839355, + -0.07379680871963501, + -0.05426782742142677 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box flap with the gripper fully open and no contact made yet. The arm is in motion, approaching the flap to initiate closure. Next, the robot should continue moving forward to make contact with the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt left 10 degrees, keep gripper open; then move left 4 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2189556211233139, + -0.1293063461780548, + 0.06841253489255905, + -2.69665789604187, + -0.07513461261987686, + -0.07146566361188889 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box flap with the gripper fully open and no contact made yet. The arm is in motion, approaching the flap to initiate closure. Next, the robot should continue moving forward to make contact with the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 4 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move left 14 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2201269567012787, + -0.13038988411426544, + 0.06610460579395294, + -2.6688714027404785, + -0.09374679625034332, + -0.07768411189317703 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box flap with the gripper fully open and no contact made yet. The arm is in motion, approaching the flap to initiate closure. Next, the robot should continue moving forward to make contact with the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 4 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move left 19 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2189461886882782, + -0.12775681912899017, + 0.06095293536782265, + -2.6114511489868164, + -0.10506287962198257, + -0.1184026449918747 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the open brown box flap with the gripper fully open and no contact made yet. The arm is in motion, approaching the flap to initiate closure. Next, the robot should continue moving forward to make contact with the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move left 24 cm, move up 5 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2146710753440857, + -0.1173800602555275, + 0.05899433046579361, + -2.5606701374053955, + -0.07749658823013306, + -0.14822356402873993 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the open brown box flap with the gripper fully open and no contact made yet. The arm is in motion, approaching the flap to initiate closure. Next, the robot should continue moving forward to make contact with the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 26 cm, move up 1 cm, tilt right 10 degrees, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21503043174743652, + -0.11119014024734497, + 0.07727743685245514, + -2.502485990524292, + -0.03071831539273262, + -0.18631550669670105 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the brown1fbox and is now in contact with the flap. The gripper remains fully open, indicating no grasping action. The next step is to push the flap shut while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 25 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21823818981647491, + -0.10734083503484726, + 0.09794782102108002, + -2.4499049186706543, + 0.017353199422359467, + -0.2327849566936493 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy": [ + 806, + 753, + 965, + 932 + ], + "cardboard box": [ + 91, + 90, + 887, + 770 + ] + } + } + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the brown1fbox and is now in contact with the flap. The gripper remains fully open, indicating no grasping action. The next step is to push the flap shut while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 25 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22052481770515442, + -0.10043352097272873, + 0.12003599107265472, + -2.4335825443267822, + 0.06386896967887878, + -0.2674255967140198 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the brown1fbox and is now in contact with the flap. The gripper remains fully open, indicating no grasping action. The next step is to push the flap shut while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move back 5 cm, move left 25 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21912725269794464, + -0.0885457694530487, + 0.14112620055675507, + -2.3937766551971436, + 0.1033734530210495, + -0.3285951316356659 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot has approached the brown1fbox and is now in contact with the flap. The gripper remains fully open, indicating no grasping action. The next step is to push the flap shut while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 25 cm, tilt right 20 degrees, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21481651067733765, + -0.05028371140360832, + 0.1668509542942047, + -2.38130259513855, + 0.16881415247917175, + -0.4460611343383789 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black object": [ + 246, + 395, + 403, + 564 + ], + "yellow toy": [ + 808, + 734, + 964, + 932 + ], + "banana": [ + 394, + 290, + 486, + 465 + ], + "cardboard box": [ + 82, + 87, + 671, + 750 + ] + } + } + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot has approached the brown1fbox and is now in contact with the flap. The gripper remains fully open, indicating no grasping action. The next step is to push the flap shut while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 21 cm, move down 3 cm, tilt right 30 degrees, tilt back 20 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20715345442295074, + -0.0015451193321496248, + 0.1823185235261917, + -2.458332061767578, + 0.22591806948184967, + -0.5157474875450134 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot has approached the brown1fbox and is now in contact with the flap. The gripper remains fully open, indicating no grasping action. The next step is to push the flap shut while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 16 cm, move down 4 cm, tilt right 20 degrees, tilt back 20 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19355258345603943, + 0.04828353598713875, + 0.19585037231445312, + -2.5460400581359863, + 0.20501567423343658, + -0.6189017295837402 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot end-effector is in contact with the brown box flap, which is partially open. The gripper remains fully open throughout, confirming no grasping. The next action is to push the flap further closed by applying forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move down 6 cm, tilt right 20 degrees, tilt back 20 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.1881449669599533, + 0.09867814928293228, + 0.20070281624794006, + -2.5598511695861816, + 0.1432807892560959, + -0.7542138695716858 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot end-effector is in contact with the brown box flap, which is partially open. The gripper remains fully open throughout, confirming no grasping. The next action is to push the flap further closed by applying forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 6 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.17893370985984802, + 0.14703553915023804, + 0.18643206357955933, + -2.6207752227783203, + 0.0750129446387291, + -0.8204673528671265 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot end-effector is in contact with the brown box flap, which is partially open. The gripper remains fully open throughout, confirming no grasping. The next action is to push the flap further closed by applying forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.1748669296503067, + 0.16942985355854034, + 0.15581989288330078, + -2.7079687118530273, + -1.4908894627296831e-05, + -0.84718257188797 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot end-effector is in contact with the brown box flap, which is partially open. The gripper remains fully open throughout, confirming no grasping. The next action is to push the flap further closed by applying forward motion while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.17067357897758484, + 0.15791098773479462, + 0.1398068070411682, + -2.8473572731018066, + -0.0790289044380188, + -0.7277079820632935 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The brown1fbox flap is closed and the end-effector is in contact with it. The gripper remains fully open throughout, confirming no grasp occurred. The next action is to retreat the end-effector away from the box while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.16659753024578094, + 0.13724932074546814, + 0.12689077854156494, + -3.017336845397949, + -0.1936441957950592, + -0.5942291617393494 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The brown1fbox flap is closed and the end-effector is in contact with it. The gripper remains fully open throughout, confirming no grasp occurred. The next action is to retreat the end-effector away from the box while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000780_ecot.json b/cot/chunk-0000/episode_0000780_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2263c1cc4467570500c6a01047443cb778c459f1 --- /dev/null +++ b/cot/chunk-0000/episode_0000780_ecot.json @@ -0,0 +1,1655 @@ +{ + "task_name": "episode_0000780", + "episode_json": "json/chunk-0000/episode_0000780.json", + "video_path": "videos/chunk-0000/image_0/episode_0000780.mp4", + "instruction": "Put potato on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000780.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.34331321716308594, + "std": 0.16288629174232483, + "delta_total": -0.34230995178222656, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34331, std=0.16289, total_delta=-0.34231). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 3, + 6, + 17 + ], + [ + 4, + 18, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the potato on the green cutting board without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp potato\", \"start\": 6, \"end\": 17, \"planning\": \"Close the gripper around the potato and secure it for lifting, as confirmed by meaningful gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport potato\", \"start\": 18, \"end\": 21, \"planning\": \"Lift the grasped potato and begin moving it toward the red plate on the counter.\"},\n {\"id\": 4, \"name\": \"place potato on plate\", \"start\": 22, \"end\": 24, \"planning\": \"Lower the potato onto the red plate and release it, completing the placement task.\"}\n ],\n \"global_plan\": \"Approach the potato on the cutting board, grasp it securely, lift and transport it to the red plate, then place it down to complete the task.\",\n \"notes\": \"Gripper closure is only observed in segment 3 (frames 6–17), which aligns with grasping. Segments 1, 2, and 4 show no meaningful gripper change, so actions are described as approach, transport, and release without implying grasp or hold outside segment 3.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the potato on the green cutting board without closing the gripper." + }, + { + "id": 2, + "name": "grasp potato", + "start": 6, + "end": 17, + "planning": "Close the gripper around the potato and secure it for lifting, as confirmed by meaningful gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport potato", + "start": 18, + "end": 21, + "planning": "Lift the grasped potato and begin moving it toward the red plate on the counter." + }, + { + "id": 4, + "name": "place potato on plate", + "start": 22, + "end": 24, + "planning": "Lower the potato onto the red plate and release it, completing the placement task." + } + ], + "global_plan": "Approach the potato on the cutting board, grasp it securely, lift and transport it to the red plate, then place it down to complete the task.", + "notes": "Gripper closure is only observed in segment 3 (frames 6–17), which aligns with grasping. Segments 1, 2, and 4 show no meaningful gripper change, so actions are described as approach, transport, and release without implying grasp or hold outside segment 3." + } + }, + "episode_goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2426508367061615, + 0.11595732718706131, + 0.09424503892660141, + -2.977391004562378, + -0.1276939958333969, + -0.007414550054818392 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the potato visible on the green cutting board in the background. No movement or grasping has occurred yet. The next action should be to move the arm closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 5 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25042709708213806, + 0.10931817442178726, + 0.08346433192491531, + -2.9959630966186523, + -0.1102505698800087, + -0.029519326984882355 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, with the potato visible on the green cutting board in the background. No movement or grasping has occurred yet. The next action should be to move the arm closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27705660462379456, + 0.10014862567186356, + 0.08731354773044586, + -2.9767839908599854, + -0.1583080142736435, + -0.08559529483318329 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29965707659721375, + 0.08899140357971191, + 0.09076758474111557, + -2.959798574447632, + -0.17973779141902924, + -0.11754859983921051 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 6, + 74, + 187, + 250 + ], + "red cup": [ + 35, + 198, + 130, + 329 + ], + "pink plate": [ + 168, + 158, + 352, + 309 + ], + "green cutting board": [ + 476, + 157, + 712, + 348 + ], + "striped ball": [ + 671, + 527, + 812, + 700 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32557493448257446, + 0.07838886231184006, + 0.09250196814537048, + -2.9410412311553955, + -0.19319218397140503, + -0.15830692648887634 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3473864495754242, + 0.06986866146326065, + 0.08683940023183823, + -2.9033119678497314, + -0.22630369663238525, + -0.22270995378494263 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36932215094566345, + 0.06802689284086227, + 0.07791957259178162, + -2.889002799987793, + -0.24538841843605042, + -0.2706361711025238 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3946440517902374, + 0.06525632739067078, + 0.07880569994449615, + -2.868943452835083, + -0.26644542813301086, + -0.3225339651107788 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4133184254169464, + 0.06214120611548424, + 0.07155493646860123, + -2.85349702835083, + -0.29327696561813354, + -0.3445897102355957 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4271071255207062, + 0.056671835482120514, + 0.06453825533390045, + -2.8669135570526123, + -0.3288836181163788, + -0.3597024381160736 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4377247989177704, + 0.05215100571513176, + 0.05406709760427475, + -2.898036479949951, + -0.3589234948158264, + -0.3636651337146759 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the potato on the green cutting board. No grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then move back 4 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.443217396736145, + 0.049746546894311905, + 0.0473589189350605, + -2.915562629699707, + -0.3848031759262085, + -0.3536440134048462 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 6 cm, move left 5 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.44530513882637024, + 0.051706865429878235, + 0.03924058377742767, + -2.930725574493408, + -0.40713560581207275, + -0.36034688353538513 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.43912380933761597, + 0.05899788439273834, + 0.029673749580979347, + -2.9312517642974854, + -0.40373143553733826, + -0.3719954192638397 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, tilt forward 10 degrees, close gripper; then move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42962321639060974, + 0.06606936454772949, + 0.024129947647452354, + -2.916144847869873, + -0.40161654353141785, + -0.40616804361343384 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red cup": [ + 34, + 197, + 130, + 329 + ], + "metal bowl": [ + 6, + 73, + 187, + 249 + ], + "green cutting board": [ + 474, + 166, + 713, + 348 + ], + "pink plate": [ + 169, + 156, + 350, + 308 + ], + "striped ball": [ + 671, + 527, + 813, + 699 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4238277077674866, + 0.07095325738191605, + 0.02298606187105179, + -2.923849105834961, + -0.40007027983665466, + -0.44556349515914917 + ], + "gripper_value": 0.8251956701278687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4252482056617737, + 0.08010464161634445, + 0.0249760951846838, + -2.915461540222168, + -0.3990974426269531, + -0.45740747451782227 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.42001307010650635, + 0.08174412697553635, + 0.024447960779070854, + -2.9318220615386963, + -0.3472703993320465, + -0.45427384972572327 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "grasp potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40390846133232117, + 0.07573653757572174, + 0.03164222836494446, + -2.9641354084014893, + -0.2350277602672577, + -0.42409053444862366 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has approached the potato on the green cutting board. The gripper is currently open and positioned near the potato, ready to close. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38836389780044556, + 0.07840724289417267, + 0.07395604252815247, + -2.918332099914551, + -0.20416554808616638, + -0.36608192324638367 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato from the green cutting board and is currently lifting it. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the potato toward the pink plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36391887068748474, + 0.09216587245464325, + 0.08780156075954437, + -2.8984830379486084, + -0.15418055653572083, + -0.32177746295928955 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato from the green cutting board and is currently lifting it. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the potato toward the pink plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.347368985414505, + 0.1271403431892395, + 0.09218116104602814, + -2.897169589996338, + -0.11545765399932861, + -0.28605565428733826 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "lift and transport potato", + "subtask_reasoning": "The robot has successfully grasped the potato from the green cutting board and is currently lifting it. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the potato toward the pink plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34517374634742737, + 0.15670956671237946, + 0.09417831152677536, + -2.8949437141418457, + -0.09727445989847183, + -0.27620041370391846 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black appliance": [ + 4, + 434, + 357, + 944 + ], + "metal bowl": [ + 6, + 73, + 186, + 250 + ], + "red cup": [ + 35, + 198, + 130, + 328 + ], + "green cutting board": [ + 460, + 165, + 696, + 362 + ], + "pink plate": [ + 168, + 156, + 350, + 308 + ], + "striped ball": [ + 671, + 527, + 812, + 700 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "place potato on plate", + "subtask_reasoning": "The robot has successfully grasped the potato from the green cutting board and is currently lifting it. The gripper remains closed with minimal movement, indicating secure transport. The next action is to move the potato toward the pink plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3414613604545593, + 0.1715763509273529, + 0.08129585534334183, + -2.8877017498016357, + -0.08821551501750946, + -0.299905925989151 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "place potato on plate", + "subtask_reasoning": "The robot is positioned above the pink plate with the potato in its gripper, as indicated by the stable gripper value and prior grasp completion. The next action is to lower the potato onto the plate and release it to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346576988697052, + 0.18473726511001587, + 0.06753797084093094, + -2.892212152481079, + -0.08971372246742249, + -0.3530685603618622 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the potato from the green cutting board and place it onto the pink plate on the wooden countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp potato" + }, + { + "id": 3, + "subtask": "lift and transport potato" + }, + { + "id": 4, + "subtask": "place potato on plate" + } + ], + "subtask_name": "place potato on plate", + "subtask_reasoning": "The robot is positioned above the pink plate with the potato in its gripper, as indicated by the stable gripper value and prior grasp completion. The next action is to lower the potato onto the plate and release it to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000781_ecot.json b/cot/chunk-0000/episode_0000781_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3fa13954ec98b5284e7b3afedae0702ba1984c3e --- /dev/null +++ b/cot/chunk-0000/episode_0000781_ecot.json @@ -0,0 +1,1835 @@ +{ + "task_name": "episode_0000781", + "episode_json": "json/chunk-0000/episode_0000781.json", + "video_path": "videos/chunk-0000/image_0/episode_0000781.mp4", + "instruction": "Fold the cloth from right to left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000781.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.9423081278800964, + "std": 0.42655983567237854, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94231, std=0.42656, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 15 + ], + [ + 3, + 16, + 25 + ], + [ + 4, + 26, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach right edge of cloth\", \"start\": 0, \"end\": 12, \"planning\": \"Move gripper down toward the right edge of the blue cloth while beginning to close fingers in preparation for contact.\"},\n {\"id\": 2, \"name\": \"grasp and secure right edge\", \"start\": 13, \"end\": 15, \"planning\": \"Fully close gripper to firmly grasp the right edge of the cloth, confirming hold before lifting or dragging.\"},\n {\"id\": 3, \"name\": \"drag cloth leftward to fold\", \"start\": 16, \"end\": 25, \"planning\": \"Lift and drag the grasped right edge across the cloth’s surface toward the left side to initiate folding motion.\"},\n {\"id\": 4, \"name\": \"release and retreat after fold\", \"start\": 26, \"end\": 27, \"planning\": \"Open gripper to release the cloth once folded, then retract arm slightly to complete the folding action.\"}\n ],\n \"global_plan\": \"Fold the cloth from right to left by approaching the right edge, grasping it securely, dragging it leftward over the cloth’s surface, and releasing after the fold is completed.\",\n \"notes\": \"Segment-level gripper evidence confirms meaningful closing in all segments; grasp wording is justified where images show contact and closure (frames 13–15). Motion and gripper data align with physical manipulation phases: approach → grasp → drag → release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach right edge of cloth", + "start": 0, + "end": 12, + "planning": "Move gripper down toward the right edge of the blue cloth while beginning to close fingers in preparation for contact." + }, + { + "id": 2, + "name": "grasp and secure right edge", + "start": 13, + "end": 15, + "planning": "Fully close gripper to firmly grasp the right edge of the cloth, confirming hold before lifting or dragging." + }, + { + "id": 3, + "name": "drag cloth leftward to fold", + "start": 16, + "end": 25, + "planning": "Lift and drag the grasped right edge across the cloth’s surface toward the left side to initiate folding motion." + }, + { + "id": 4, + "name": "release and retreat after fold", + "start": 26, + "end": 27, + "planning": "Open gripper to release the cloth once folded, then retract arm slightly to complete the folding action." + } + ], + "global_plan": "Fold the cloth from right to left by approaching the right edge, grasping it securely, dragging it leftward over the cloth’s surface, and releasing after the fold is completed.", + "notes": "Segment-level gripper evidence confirms meaningful closing in all segments; grasp wording is justified where images show contact and closure (frames 13–15). Motion and gripper data align with physical manipulation phases: approach → grasp → drag → release." + } + }, + "episode_goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33480513095855713, + 0.047415841370821, + 0.12267212569713593, + -3.088113307952881, + -0.050917431712150574, + -0.03727739304304123 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the right edge. No contact has been made yet, and the arm is beginning to move toward the target grasp point. The next action is to continue moving the end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 18 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3328176736831665, + 0.0456589013338089, + 0.11066373437643051, + -3.096229314804077, + -0.01977146789431572, + -0.034897491335868835 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the right edge. No contact has been made yet, and the arm is beginning to move toward the target grasp point. The next action is to continue moving the end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 18 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229060471057892, + 0.015046903863549232, + 0.0972466841340065, + -3.120213508605957, + -0.036042470484972, + -0.08593722432851791 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the right edge. No contact has been made yet, and the arm is beginning to move toward the target grasp point. The next action is to continue moving the end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31718242168426514, + -0.014461470767855644, + 0.09976216405630112, + -3.1186978816986084, + -0.0860159695148468, + -0.130060613155365 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the right edge. No contact has been made yet, and the arm is beginning to move toward the target grasp point. The next action is to continue moving the end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move down 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31175127625465393, + -0.048078976571559906, + 0.09479839354753494, + -3.124006509780884, + -0.0933641642332077, + -0.17788292467594147 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the right edge. No contact has been made yet, and the arm is beginning to move toward the target grasp point. The next action is to continue moving the end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move down 7 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31003689765930176, + -0.08449604362249374, + 0.09515829384326935, + -3.1276607513427734, + -0.13342753052711487, + -0.2056860625743866 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the right edge. No contact has been made yet, and the arm is beginning to move toward the target grasp point. The next action is to continue moving the end-effector closer to the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31281909346580505, + -0.10312593728303909, + 0.08482778072357178, + -3.133859634399414, + -0.13762520253658295, + -0.1914941519498825 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cabbage toy": [ + 823, + 441, + 967, + 594 + ], + "yellow sponge": [ + 143, + 231, + 254, + 337 + ], + "blue mat": [ + 127, + 301, + 808, + 893 + ], + "silver": [ + 727, + 893, + 862, + 996 + ], + "purple eggplant toy": [ + 405, + 421, + 518, + 556 + ], + "wooden table": [ + 2, + 157, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232818841934204, + -0.1156768873333931, + 0.07441527396440506, + -3.140367031097412, + -0.15054920315742493, + -0.16513948142528534 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, close gripper; then move left 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32916566729545593, + -0.12107522040605545, + 0.06092657893896103, + -3.1345577239990234, + -0.13762642443180084, + -0.1399301290512085 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move left 2 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move left 7 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3297245502471924, + -0.12553872168064117, + 0.046603646129369736, + -3.12457537651062, + -0.11969684064388275, + -0.12404560297727585 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move left 2 cm, move up 2 cm, keep gripper closed; then move left 10 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33192962408065796, + -0.12865130603313446, + 0.03689631447196007, + -3.122466802597046, + -0.10843420028686523, + -0.11350240558385849 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move left 2 cm, move up 2 cm, keep gripper closed; then move left 15 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32939690351486206, + -0.13245220482349396, + 0.031006701290607452, + -3.109463691711426, + -0.09676843881607056, + -0.12784801423549652 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 2 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 19 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3284224569797516, + -0.13367675244808197, + 0.028506046161055565, + -3.094820737838745, + -0.11274640262126923, + -0.11080173403024673 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 2 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 23 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272067606449127, + -0.134133443236351, + 0.027799494564533234, + -3.09713077545166, + -0.10939577966928482, + -0.10272153466939926 + ], + "gripper_value": 0.36950385570526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "grasp and secure right edge", + "subtask_reasoning": "The robot is positioned above the blue cloth, with the gripper open and approaching the right edge. No contact or grasp has occurred yet. The next action should be to lower the gripper slightly and close it to secure the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 25 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32548969984054565, + -0.1340210884809494, + 0.026136815547943115, + -3.100639581680298, + -0.10544316470623016, + -0.09398186206817627 + ], + "gripper_value": 0.15616591274738312 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "grasp and secure right edge", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth and is now in contact with it. The gripper is partially closed, indicating an attempt to secure the edge. The next action should be to fully close the gripper to grasp the cloth firmly before initiating the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 25 cm, move up 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268066644668579, + -0.12500154972076416, + 0.029149895533919334, + -3.1258819103240967, + -0.10289858281612396, + -0.070447638630867 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "grasp and secure right edge", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth and is now in contact with it. The gripper is partially closed, indicating an attempt to secure the edge. The next action should be to fully close the gripper to grasp the cloth firmly before initiating the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 25 cm, move up 6 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3304280638694763, + -0.11417701095342636, + 0.044920116662979126, + 3.116436243057251, + -0.11566013097763062, + -0.06067313253879547 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth and is now in contact with it. The gripper is partially closed, indicating an attempt to secure the edge. The next action should be to fully close the gripper to grasp the cloth firmly before initiating the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 23 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3365248143672943, + -0.085673026740551, + 0.06943678855895996, + 3.0794365406036377, + -0.09778118878602982, + -0.09488008916378021 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 143, + 231, + 254, + 337 + ], + "silver": [ + 726, + 893, + 863, + 996 + ], + "blue mat": [ + 126, + 299, + 748, + 893 + ], + "wooden table": [ + 3, + 157, + 996, + 995 + ], + "purple eggplant toy": [ + 405, + 419, + 518, + 557 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth and is now in contact with it. The gripper is partially closed, indicating an attempt to secure the edge. The next action should be to fully close the gripper to grasp the cloth firmly before initiating the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 20 cm, move up 3 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33603519201278687, + -0.04604870826005936, + 0.0921199843287468, + 3.078768014907837, + -0.1031305193901062, + -0.0959974005818367 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cabbage toy": [ + 818, + 440, + 968, + 594 + ], + "blue mat": [ + 125, + 310, + 737, + 894 + ], + "yellow sponge": [ + 143, + 231, + 254, + 337 + ], + "silver": [ + 727, + 894, + 861, + 996 + ], + "wooden table": [ + 3, + 157, + 996, + 995 + ], + "purple eggplant toy": [ + 405, + 419, + 517, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth and is now in contact with it. The gripper is partially closed, indicating an attempt to secure the edge. The next action should be to fully close the gripper to grasp the cloth firmly before initiating the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343835175037384, + -0.01177601981908083, + 0.10602588951587677, + 3.086549758911133, + -0.11764279007911682, + -0.06067177280783653 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot has approached the right edge of the blue cloth and is now in contact with it. The gripper is partially closed, indicating an attempt to secure the edge. The next action should be to fully close the gripper to grasp the cloth firmly before initiating the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256513476371765, + 0.03872619941830635, + 0.1125795915722847, + 3.096367120742798, + -0.10358893871307373, + 0.0012648021802306175 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having completed the approach and grasp phases. The cloth is partially lifted and positioned to be moved. The next action is to drag the held edge leftward across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31646454334259033, + 0.07845635712146759, + 0.11383216828107834, + 3.0976219177246094, + -0.09153199940919876, + 0.06660246104001999 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having completed the approach and grasp phases. The cloth is partially lifted and positioned to be moved. The next action is to drag the held edge leftward across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31654196977615356, + 0.11345189809799194, + 0.12428673356771469, + 3.0974228382110596, + -0.11945808678865433, + 0.11517687886953354 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having completed the approach and grasp phases. The cloth is partially lifted and positioned to be moved. The next action is to drag the held edge leftward across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31820759177207947, + 0.13107708096504211, + 0.11207055300474167, + 3.080021858215332, + -0.08509354293346405, + 0.12518391013145447 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having completed the approach and grasp phases. The cloth is partially lifted and positioned to be moved. The next action is to drag the held edge leftward across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170918822288513, + 0.13812071084976196, + 0.10227561742067337, + 3.074772357940674, + -0.04488389939069748, + 0.11998691409826279 + ], + "gripper_value": 0.22171935439109802 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having completed the approach and grasp phases. The cloth is partially lifted and positioned to be moved. The next action is to drag the held edge leftward across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194252550601959, + 0.13178975880146027, + 0.10043897479772568, + 3.0773017406463623, + -0.03946927934885025, + 0.11393630504608154 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "drag cloth leftward to fold", + "subtask_reasoning": "The robot is currently holding the right edge of the blue cloth, having completed the approach and grasp phases. The cloth is partially lifted and positioned to be moved. The next action is to drag the held edge leftward across the table surface to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3223593831062317, + 0.11620249599218369, + 0.09646989405155182, + 3.072655439376831, + -0.029586877673864365, + 0.09212014079093933 + ], + "gripper_value": 0.7922340631484985 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "release and retreat after fold", + "subtask_reasoning": "The cloth has been folded from right to left and is now lying flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32434791326522827, + 0.1071246787905693, + 0.0959525853395462, + 3.0829644203186035, + -0.02447918802499771, + 0.08613470196723938 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from right to left by grasping the right edge and placing it over the left side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "grasp and secure right edge" + }, + { + "id": 3, + "subtask": "drag cloth leftward to fold" + }, + { + "id": 4, + "subtask": "release and retreat after fold" + } + ], + "subtask_name": "release and retreat after fold", + "subtask_reasoning": "The cloth has been folded from right to left and is now lying flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward or backward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000782_ecot.json b/cot/chunk-0000/episode_0000782_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..74771dc9cbc9c238f4ff6128dbae83ecb056d922 --- /dev/null +++ b/cot/chunk-0000/episode_0000782_ecot.json @@ -0,0 +1,938 @@ +{ + "task_name": "episode_0000782", + "episode_json": "json/chunk-0000/episode_0000782.json", + "video_path": "videos/chunk-0000/image_0/episode_0000782.mp4", + "instruction": "Put corn in pan which is on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 14, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000782.json" + }, + "fps": 5.0, + "T_eff": 14, + "gripper_behavior_summary": { + "available": true, + "range": 0.31027752161026, + "std": 0.14091964066028595, + "delta_total": -0.31027752161026, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.31028, std=0.14092, total_delta=-0.31028). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 13 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach corn\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the corn on the counter while opening gripper.\"},\n {\"id\": 2, \"name\": \"grasp corn\", \"start\": 4, \"end\": 8, \"planning\": \"Close gripper around corn and lift slightly after confirming contact and grip stability.\"},\n {\"id\": 3, \"name\": \"transport corn to pan\", \"start\": 9, \"end\": 12, \"planning\": \"Carry grasped corn over to the pan on the stove with steady motion.\"},\n {\"id\": 4, \"name\": \"release corn in pan\", \"start\": 13, \"end\": 13, \"planning\": \"Open gripper to drop corn into pan; no further motion needed as object is released.\"}\n ],\n \"global_plan\": \"Approach corn on counter, grasp it securely, transport it to the pan on the stove, and release it inside the pan.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.31) consistent with grasping; Segment 2 has zero gripper change, so release is inferred from context and final frame image showing corn in pan. Frame 13 is assigned to release since gripper remains open and object is visually deposited.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach corn", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the corn on the counter while opening gripper." + }, + { + "id": 2, + "name": "grasp corn", + "start": 4, + "end": 8, + "planning": "Close gripper around corn and lift slightly after confirming contact and grip stability." + }, + { + "id": 3, + "name": "transport corn to pan", + "start": 9, + "end": 12, + "planning": "Carry grasped corn over to the pan on the stove with steady motion." + }, + { + "id": 4, + "name": "release corn in pan", + "start": 13, + "end": 13, + "planning": "Open gripper to drop corn into pan; no further motion needed as object is released." + } + ], + "global_plan": "Approach corn on counter, grasp it securely, transport it to the pan on the stove, and release it inside the pan.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.31) consistent with grasping; Segment 2 has zero gripper change, so release is inferred from context and final frame image showing corn in pan. Frame 13 is assigned to release since gripper remains open and object is visually deposited." + } + }, + "episode_goal": "Place the corn into the pan on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.42508214712142944, + 0.1248340830206871, + 0.0615442618727684, + -2.9546830654144287, + -0.20394669473171234, + -0.09627661108970642 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the corn visible in the background near the stove. No objects have been interacted with yet as the gripper remains open. The robot needs to move its arm forward and downward to reach the corn on the counter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4227311909198761, + 0.12187686562538147, + 0.03606707975268364, + -2.98474383354187, + -0.1609916090965271, + -0.09756407141685486 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible in the background. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.42530006170272827, + 0.12115468829870224, + 0.03435944765806198, + -2.9953501224517822, + -0.17422500252723694, + -0.10687355697154999 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible in the background. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4283570647239685, + 0.12449803203344345, + 0.02593880333006382, + -3.021056890487671, + -0.18043217062950134, + -0.09766428917646408 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "approach corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible in the background. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4305126667022705, + 0.1254875212907791, + 0.014657610096037388, + -3.044651985168457, + -0.18014276027679443, + -0.09631214290857315 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 701, + 8, + 942, + 402 + ], + "lemon": [ + 414, + 194, + 465, + 283 + ], + "sink": [ + 408, + 321, + 991, + 889 + ], + "onion": [ + 584, + 485, + 695, + 622 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible in the background. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4316670894622803, + 0.12703214585781097, + 0.011255004443228245, + -3.0460195541381836, + -0.18066290020942688, + -0.09245710074901581 + ], + "gripper_value": 0.7642965912818909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot is positioned near the counter with the corn visible in the background. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the corn to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4315655529499054, + 0.1316726952791214, + 0.011795975267887115, + -3.0084965229034424, + -0.17783582210540771, + -0.09070216864347458 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the corn on the counter and is now positioned near it. The gripper is open and ready to close around the corn. The next action is to close the gripper to grasp the corn securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4264508783817291, + 0.128942608833313, + 0.026791155338287354, + -2.939764976501465, + -0.15567365288734436, + -0.10879368335008621 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the corn on the counter and is now positioned near it. The gripper is open and ready to close around the corn. The next action is to close the gripper to grasp the corn securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.42189115285873413, + 0.1363261342048645, + 0.06814105063676834, + -2.8532943725585938, + -0.17164283990859985, + -0.10492875427007675 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "grasp corn", + "subtask_reasoning": "The robot has approached the corn on the counter and is now positioned near it. The gripper is open and ready to close around the corn. The next action is to close the gripper to grasp the corn securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4073997437953949, + 0.13906684517860413, + 0.08405561000108719, + -2.804924488067627, + -0.16106636822223663, + -0.08195682615041733 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "transport corn to pan", + "subtask_reasoning": "The robot has approached the corn on the counter and is now positioned near it. The gripper is open and ready to close around the corn. The next action is to close the gripper to grasp the corn securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.39186131954193115, + 0.1346552073955536, + 0.08681599795818329, + -2.8049733638763428, + -0.16436344385147095, + -0.03760553151369095 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "transport corn to pan", + "subtask_reasoning": "The robot is currently positioned near the sink with the corn in its gripper, having completed the approach and grasp phases. The pan is visible on the stove in the background, but the robot has not yet moved towards it. The next action should involve transporting the corn from the current position to the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37571561336517334, + 0.13090141117572784, + 0.07789033651351929, + -2.822310447692871, + -0.15683284401893616, + -0.006687564309686422 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "transport corn to pan", + "subtask_reasoning": "The robot is currently positioned near the sink with the corn in its gripper, having completed the approach and grasp phases. The pan is visible on the stove in the background, but the robot has not yet moved towards it. The next action should involve transporting the corn from the current position to the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36541247367858887, + 0.13203701376914978, + 0.07228682935237885, + -2.844658851623535, + -0.17724892497062683, + 0.02124110981822014 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 703, + 8, + 944, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "transport corn to pan", + "subtask_reasoning": "The robot is currently positioned near the sink with the corn in its gripper, having completed the approach and grasp phases. The pan is visible on the stove in the background, but the robot has not yet moved towards it. The next action should involve transporting the corn from the current position to the pan on the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3515217900276184, + 0.13229075074195862, + 0.05318423733115196, + -2.869393825531006, + -0.17349380254745483, + 0.04918239265680313 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the corn into the pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach corn" + }, + { + "id": 2, + "subtask": "grasp corn" + }, + { + "id": 3, + "subtask": "transport corn to pan" + }, + { + "id": 4, + "subtask": "release corn in pan" + } + ], + "subtask_name": "release corn in pan", + "subtask_reasoning": "The corn is currently held above the pan on the stove, with the gripper open and no closing motion detected in this segment. The corn has been transported to the target location, and the next action is to release it into the pan by opening the gripper further or maintaining the open state to drop the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 13 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000783_ecot.json b/cot/chunk-0000/episode_0000783_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..08840ab6a78ad960245f7acd0eae5e63866fba8e --- /dev/null +++ b/cot/chunk-0000/episode_0000783_ecot.json @@ -0,0 +1,2947 @@ +{ + "task_name": "episode_0000783", + "episode_json": "json/chunk-0000/episode_0000783.json", + "video_path": "videos/chunk-0000/image_0/episode_0000783.mp4", + "instruction": "Moved the wooden spatula to the right side of the sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000783.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.7043461203575134, + "std": 0.33303436636924744, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.70435, std=0.33303, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 216, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 316, + 135, + 135, + 135, + 135, + 135, + 135, + 135 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 15 + ], + [ + 3, + 16, + 23 + ], + [ + 4, + 24, + 34 + ], + [ + 5, + 35, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the wooden spatula in the metal bowl without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp spatula\", \"start\": 5, \"end\": 15, \"planning\": \"Close gripper around the handle of the wooden spatula while maintaining position over the bowl.\"},\n {\"id\": 3, \"name\": \"lift and reposition spatula\", \"start\": 16, \"end\": 23, \"planning\": \"Lift the grasped spatula from the bowl and begin moving it rightward toward the sink area.\"},\n {\"id\": 4, \"name\": \"place spatula near sink\", \"start\": 24, \"end\": 34, \"planning\": \"Lower the spatula onto the table surface to the right of the sink, then release grip as contact is made.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 35, \"end\": 41, \"planning\": \"Open gripper fully and move end-effector away from the placed spatula to complete the task.\"}\n ],\n \"global_plan\": \"Approach the wooden spatula in the bowl, grasp it, lift and carry it to the right side of the sink, place it down, then retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful closing (delta=-0.30130) with image confirmation at frame 15 — grasp is valid. Segment 4 shows slight opening during placement (gripper increases from 0.30 to 0.35) — consistent with releasing contact. Segment 5 shows full opening and retreat — valid for post-placement withdrawal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the wooden spatula in the metal bowl without closing gripper." + }, + { + "id": 2, + "name": "grasp spatula", + "start": 5, + "end": 15, + "planning": "Close gripper around the handle of the wooden spatula while maintaining position over the bowl." + }, + { + "id": 3, + "name": "lift and reposition spatula", + "start": 16, + "end": 23, + "planning": "Lift the grasped spatula from the bowl and begin moving it rightward toward the sink area." + }, + { + "id": 4, + "name": "place spatula near sink", + "start": 24, + "end": 34, + "planning": "Lower the spatula onto the table surface to the right of the sink, then release grip as contact is made." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 35, + "end": 41, + "planning": "Open gripper fully and move end-effector away from the placed spatula to complete the task." + } + ], + "global_plan": "Approach the wooden spatula in the bowl, grasp it, lift and carry it to the right side of the sink, place it down, then retreat.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful closing (delta=-0.30130) with image confirmation at frame 15 — grasp is valid. Segment 4 shows slight opening during placement (gripper increases from 0.30 to 0.35) — consistent with releasing contact. Segment 5 shows full opening and retreat — valid for post-placement withdrawal." + } + }, + "episode_goal": "Place the wooden spatula on the table to the right of the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3243637681007385, + -0.03640978783369064, + 0.056171853095293045, + -3.1294093132019043, + -0.32179373502731323, + 0.2762436270713806 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32151100039482117, + -0.035323794931173325, + 0.047543201595544815, + -3.1170451641082764, + -0.29593226313591003, + 0.2787017524242401 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3331697881221771, + -0.034452687948942184, + 0.04929381236433983, + -3.117405414581299, + -0.3082706034183502, + 0.3558567464351654 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3525228500366211, + -0.0325230211019516, + 0.05561937764286995, + -3.1301915645599365, + -0.35200369358062744, + 0.46427106857299805 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3709840476512909, + -0.026678062975406647, + 0.059120114892721176, + 3.102398157119751, + -0.4165061414241791, + 0.6468997001647949 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39008235931396484, + -0.02090400643646717, + 0.05046349763870239, + 3.0770325660705566, + -0.42240437865257263, + 0.7968788743019104 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.40790584683418274, + -0.021877015009522438, + 0.041392698884010315, + 3.0515811443328857, + -0.39134320616722107, + 0.8706474900245667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4205113649368286, + -0.02470790222287178, + 0.030157025903463364, + 3.038670778274536, + -0.35805413126945496, + 0.9392160177230835 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 214, + 539, + 716, + 994 + ], + "metal bowl": [ + 583, + 262, + 778, + 474 + ], + "can": [ + 392, + 226, + 536, + 444 + ], + "yellow brush": [ + 814, + 444, + 996, + 630 + ], + "wooden table": [ + 7, + 140, + 995, + 995 + ], + "red mat": [ + 35, + 1, + 226, + 72 + ], + "green toy vegetable": [ + 616, + 294, + 694, + 394 + ], + "robot base": [ + 604, + 8, + 868, + 372 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4298291504383087, + -0.024255694821476936, + 0.019711988046765327, + 3.033008575439453, + -0.3454575538635254, + 0.9966251254081726 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 215, + 540, + 715, + 994 + ], + "can": [ + 392, + 225, + 534, + 443 + ], + "metal bowl": [ + 583, + 268, + 778, + 474 + ], + "red mat": [ + 110, + 1, + 225, + 73 + ], + "yellow brush": [ + 814, + 444, + 996, + 629 + ], + "green toy vegetable": [ + 615, + 294, + 696, + 395 + ], + "wooden table": [ + 31, + 140, + 996, + 995 + ], + "robot base": [ + 609, + 11, + 867, + 395 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4293288588523865, + -0.01776503212749958, + 0.01607757806777954, + 3.046483278274536, + -0.35366159677505493, + 1.0158663988113403 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the table with the wooden spatula visible to the right. No objects have been interacted with yet. The gripper is open and the robot is moving toward the spatula. The next action is to continue approaching the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.43014609813690186, + -0.01139882579445839, + 0.01018787082284689, + 3.051388740539551, + -0.3621746003627777, + 1.0362468957901 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4302087426185608, + -0.00705617805942893, + 0.004359025042504072, + 3.056191921234131, + -0.3801268935203552, + 1.0294458866119385 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.42768266797065735, + -0.0028165357653051615, + -0.009004296734929085, + 3.0827412605285645, + -0.3778593838214874, + 1.0291446447372437 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.42827990651130676, + -0.0028797383420169353, + -0.012919130735099316, + 3.089174747467041, + -0.3939153254032135, + 1.0240732431411743 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 4 cm, move right 2 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42982473969459534, + -0.003741246648132801, + -0.02062823437154293, + 3.0837340354919434, + -0.40016138553619385, + 1.0265964269638062 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.43084555864334106, + -0.004647461231797934, + -0.021143285557627678, + 3.066537618637085, + -0.3990117907524109, + 1.042097568511963 + ], + "gripper_value": 0.6981924772262573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 6 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4314904808998108, + -0.005857320036739111, + -0.02162846177816391, + 3.0548698902130127, + -0.3987959325313568, + 1.049917221069336 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 2 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.43000420928001404, + -0.005403958726674318, + -0.02275327779352665, + 3.057842969894409, + -0.39601296186447144, + 1.0452537536621094 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.42642393708229065, + -0.003687574528157711, + -0.020392460748553276, + 3.062852144241333, + -0.40211251378059387, + 1.0476235151290894 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot end-effector is positioned directly above the wooden spatula inside the metal bowl. The gripper is currently open, indicating the object has not yet been secured. The next action is to close the gripper to grasp the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.42452898621559143, + -0.004357911646366119, + -0.010913513600826263, + 3.0467686653137207, + -0.4001907408237457, + 1.058236002922058 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4262608587741852, + -0.004839624278247356, + 0.011916573159396648, + 2.986579179763794, + -0.3886164426803589, + 1.0981931686401367 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 215, + 540, + 715, + 994 + ], + "metal bowl": [ + 573, + 287, + 772, + 491 + ], + "can": [ + 392, + 225, + 533, + 442 + ], + "red mat": [ + 140, + 0, + 225, + 70 + ], + "wooden table": [ + 36, + 140, + 996, + 995 + ], + "yellow brush": [ + 815, + 444, + 996, + 629 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4236050844192505, + -0.0034924366045743227, + 0.02217920683324337, + 2.983469247817993, + -0.38807904720306396, + 1.1417478322982788 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.41869044303894043, + -0.009964526630938053, + 0.041904959827661514, + 2.9478085041046143, + -0.39159727096557617, + 1.2377595901489258 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3924543261528015, + -0.026751624420285225, + 0.05505282059311867, + 2.9755265712738037, + -0.354907363653183, + 1.3097290992736816 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition spatula", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36750328540802, + -0.04507352411746979, + 0.05659157782793045, + 3.031402826309204, + -0.2611594498157501, + 1.39322829246521 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405715227127075, + -0.05436233431100845, + 0.05459846183657646, + 3.0903947353363037, + -0.17694617807865143, + 1.5427987575531006 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31767651438713074, + -0.06610161811113358, + 0.047516752034425735, + 3.139187812805176, + -0.12723281979560852, + 1.5679737329483032 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31077438592910767, + -0.06862424314022064, + 0.04037639871239662, + 3.1182444095611572, + -0.15113148093223572, + 1.5211035013198853 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 6 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31287145614624023, + -0.06052785739302635, + 0.03346420079469681, + 3.08544659614563, + -0.1535998284816742, + 1.5245287418365479 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot has grasped the wooden spatula from the metal bowl and is currently lifting it. The gripper is closed, and the arm is positioned above the bowl, indicating the spatula is being repositioned. The next action is to move the spatula toward the right side of the sink for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 5 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149138391017914, + -0.04313281923532486, + 0.020506372675299644, + 3.085193395614624, + -0.1629113107919693, + 1.542088270187378 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3150981068611145, + -0.028573863208293915, + 0.0007228468311950564, + 3.1087818145751953, + -0.19426237046718597, + 1.543939471244812 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 215, + 540, + 716, + 994 + ], + "can": [ + 392, + 225, + 534, + 442 + ], + "yellow brush": [ + 814, + 444, + 996, + 630 + ], + "wooden table": [ + 3, + 140, + 996, + 994 + ], + "red mat": [ + 35, + 0, + 226, + 73 + ], + "green toy vegetable": [ + 551, + 440, + 591, + 512 + ], + "metal bowl": [ + 654, + 297, + 772, + 490 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move forward 1 cm, move right 3 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135347366333008, + -0.024893010035157204, + -0.011637053452432156, + 3.138587713241577, + -0.20401164889335632, + 1.508577585220337 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then move forward 2 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31044384837150574, + -0.018032973632216454, + -0.018781835213303566, + 3.1296117305755615, + -0.22118432819843292, + 1.4732563495635986 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then move forward 2 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31258225440979004, + -0.018079189583659172, + -0.01943236216902733, + 3.116266965866089, + -0.22237573564052582, + 1.4657057523727417 + ], + "gripper_value": 0.30494338274002075 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 2 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30856984853744507, + -0.01661580801010132, + -0.02078915387392044, + 3.1302969455718994, + -0.22822317481040955, + 1.4712601900100708 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place spatula near sink", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043529689311981, + -0.015280613675713539, + -0.020314928144216537, + -3.1200151443481445, + -0.2193557769060135, + 1.4751964807510376 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047465980052948, + -0.01355953048914671, + -0.019858568906784058, + -3.104564666748047, + -0.2081163376569748, + 1.4261070489883423 + ], + "gripper_value": 0.907461404800415 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3060700595378876, + -0.013539575040340424, + -0.017819978296756744, + -3.0991580486297607, + -0.1912645399570465, + 1.4287331104278564 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the wooden spatula above the table to the right of the sink, with the gripper closed and stable. The spatula has been successfully transported from the bowl. The next action is to lower and release the spatula onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3112432360649109, + -0.01805149018764496, + 0.006070776376873255, + -3.1365444660186768, + -0.16718126833438873, + 1.432399034500122 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The wooden spatula has been successfully placed on the table to the right of the sink. The robot's gripper is open and positioned above the spatula, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.31300532817840576, + -0.02796046994626522, + 0.02712765708565712, + 3.1259055137634277, + -0.2148650735616684, + 1.3247252702713013 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The wooden spatula has been successfully placed on the table to the right of the sink. The robot's gripper is open and positioned above the spatula, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180658221244812, + -0.04602719098329544, + 0.03843279555439949, + 3.1059908866882324, + -0.2629516124725342, + 1.1221436262130737 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The wooden spatula has been successfully placed on the table to the right of the sink. The robot's gripper is open and positioned above the spatula, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3283234238624573, + -0.06384704262018204, + 0.04652734845876694, + 3.1259772777557373, + -0.34430837631225586, + 0.8603737354278564 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 214, + 541, + 714, + 994 + ], + "can": [ + 392, + 226, + 535, + 442 + ], + "red mat": [ + 35, + 0, + 226, + 73 + ], + "wooden table": [ + 3, + 140, + 996, + 995 + ], + "metal bowl": [ + 573, + 272, + 804, + 491 + ], + "yellow brush": [ + 815, + 445, + 996, + 629 + ], + "green toy vegetable": [ + 520, + 519, + 620, + 618 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden spatula on the table to the right of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and reposition spatula" + }, + { + "id": 4, + "subtask": "place spatula near sink" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The wooden spatula has been successfully placed on the table to the right of the sink. The robot's gripper is open and positioned above the spatula, indicating the placement is complete. The next action is to retreat the arm away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000784_ecot.json b/cot/chunk-0000/episode_0000784_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9bda2aa7ee17fe6301f92094e5220bbfee83bfe1 --- /dev/null +++ b/cot/chunk-0000/episode_0000784_ecot.json @@ -0,0 +1,1719 @@ +{ + "task_name": "episode_0000784", + "episode_json": "json/chunk-0000/episode_0000784.json", + "video_path": "videos/chunk-0000/image_0/episode_0000784.mp4", + "instruction": "Push the blue cloth under the microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000784.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.0019888877868652344, + "std": 0.0006499910959973931, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00199, std=0.00065, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 13 + ], + [ + 4, + 14, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue cloth on the left side of the table without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 13, \"planning\": \"Lower and position end-effector to make gentle contact with the blue cloth for pushing.\"},\n {\"id\": 3, \"name\": \"push cloth under microwave\", \"start\": 14, \"end\": 20, \"planning\": \"Slide the blue cloth forward under the microwave using continuous pushing motion.\"},\n {\"id\": 4, \"name\": \"retreat after push\", \"start\": 21, \"end\": 25, \"planning\": \"Lift and withdraw end-effector away from the cloth after completing the push task.\"}\n ],\n \"global_plan\": \"Push the blue cloth under the microwave by approaching it, making contact, sliding it forward, then retreating — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, contact, push, retreat). Frame ranges follow provided segments but merged micro-motions into natural phases. Final frame 25 shows cloth fully under microwave.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue cloth on the left side of the table without grasping." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 13, + "planning": "Lower and position end-effector to make gentle contact with the blue cloth for pushing." + }, + { + "id": 3, + "name": "push cloth under microwave", + "start": 14, + "end": 20, + "planning": "Slide the blue cloth forward under the microwave using continuous pushing motion." + }, + { + "id": 4, + "name": "retreat after push", + "start": 21, + "end": 25, + "planning": "Lift and withdraw end-effector away from the cloth after completing the push task." + } + ], + "global_plan": "Push the blue cloth under the microwave by approaching it, making contact, sliding it forward, then retreating — all without grasping, as gripper remains open throughout.", + "notes": "Gripper evidence confirms no meaningful closing in any segment; all actions are contact-based (approach, contact, push, retreat). Frame ranges follow provided segments but merged micro-motions into natural phases. Final frame 25 shows cloth fully under microwave." + } + }, + "episode_goal": "Push the blue cloth under the microwave.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3625783920288086, + 0.0033930540084838867, + 0.10162510722875595, + -3.117968797683716, + -0.24868959188461304, + -0.21209093928337097 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the countertop with the blue cloth visible to the left and the microwave ahead. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 18 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 5 cm, move left 7 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36093541979789734, + 0.003340455237776041, + 0.09070734679698944, + -3.1261188983917236, + -0.2158900648355484, + -0.21033594012260437 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is positioned above the countertop with the blue cloth visible to the left and the microwave ahead. No contact has been made yet, and the gripper remains open. The next action is to move the end effector closer to the blue cloth to prepare for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 18 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 4 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562644124031067, + 0.014787275344133377, + 0.08720038831233978, + 3.1409659385681152, + -0.18503953516483307, + -0.19843211770057678 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the left side of the counter, with the microwave visible ahead. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving forward to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 16 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 3 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424533009529114, + 0.049551766365766525, + 0.07830681651830673, + 3.136504888534546, + -0.15403471887111664, + -0.11877386271953583 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the left side of the counter, with the microwave visible ahead. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving forward to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 13 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099256455898285, + 0.09676211327314377, + 0.08352530747652054, + 3.115934133529663, + -0.17033852636814117, + 0.03966124355792999 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the left side of the counter, with the microwave visible ahead. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving forward to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671523690223694, + 0.14336051046848297, + 0.0765809416770935, + 3.133134126663208, + -0.1412636935710907, + 0.19801945984363556 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 295, + 306, + 479, + 517 + ], + "toy rice ball": [ + 381, + 541, + 521, + 677 + ], + "microwave": [ + 265, + 4, + 598, + 251 + ], + "tomato sauce": [ + 539, + 64, + 680, + 317 + ], + "toy croissant": [ + 553, + 365, + 686, + 531 + ] + } + } + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the left side of the counter, with the microwave visible ahead. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving forward to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23731720447540283, + 0.17921699583530426, + 0.07013862580060959, + -3.140103578567505, + -0.12932491302490234, + 0.2871500253677368 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the left side of the counter, with the microwave visible ahead. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving forward to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21706999838352203, + 0.20325735211372375, + 0.05546695739030838, + -3.1086184978485107, + -0.07768221199512482, + 0.33710795640945435 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the left side of the counter, with the microwave visible ahead. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving forward to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 4 cm, keep gripper open; then move forward 10 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19856365025043488, + 0.226199671626091, + 0.0458962544798851, + -3.083477735519409, + -0.06812982261180878, + 0.4059284031391144 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the left side of the counter, with the microwave visible ahead. No contact has been made yet, and the gripper remains open as per segment evidence. The next action is to continue moving forward to make contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 3 cm, keep gripper open; then move forward 12 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18947090208530426, + 0.2376594841480255, + 0.034506905823946, + -3.09112811088562, + -0.08807624131441116, + 0.4380595088005066 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move down 2 cm, keep gripper open; then move forward 13 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.18570084869861603, + 0.24498270452022552, + 0.018376488238573074, + -3.085789442062378, + -0.08552244305610657, + 0.4586387872695923 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 1 cm, keep gripper open; then move forward 13 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.1930849403142929, + 0.24788513779640198, + 0.009030462242662907, + -3.1135685443878174, + -0.08031769096851349, + 0.4561605453491211 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, keep gripper open; then move forward 13 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20617231726646423, + 0.2472214251756668, + 0.008934533223509789, + -3.132375478744507, + -0.08604207634925842, + 0.447308212518692 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, keep gripper open; then move forward 13 cm, move right 3 cm, move up 2 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2365165650844574, + 0.24574077129364014, + 0.010580036789178848, + -3.1306965351104736, + -0.09895991533994675, + 0.4206004738807678 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper open; then move forward 13 cm, move right 3 cm, move up 2 cm, keep gripper open; then move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26302090287208557, + 0.24749183654785156, + 0.012631850317120552, + 3.136528491973877, + -0.11566329747438431, + 0.4202520549297333 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "push cloth under microwave", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 3 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.301937073469162, + 0.2452552616596222, + 0.013546166941523552, + 3.107584238052368, + -0.136325865983963, + 0.4122121036052704 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "push cloth under microwave", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33842480182647705, + 0.24085566401481628, + 0.014151135459542274, + 3.083975315093994, + -0.16080829501152039, + 0.4036828875541687 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 295, + 306, + 479, + 516 + ], + "microwave": [ + 207, + 4, + 599, + 251 + ], + "tomato sauce": [ + 537, + 64, + 679, + 317 + ], + "toy rice ball": [ + 381, + 541, + 521, + 677 + ], + "cloth": [ + 36, + 168, + 302, + 372 + ], + "toy croissant": [ + 552, + 365, + 692, + 530 + ] + } + } + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "push cloth under microwave", + "subtask_reasoning": "The robot has approached the blue cloth and is now positioned near it on the countertop. The gripper remains open, indicating no grasp has occurred. The next action is to make physical contact with the cloth to begin pushing it under the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36468952894210815, + 0.2393648624420166, + 0.015554891899228096, + 3.0883185863494873, + -0.17091865837574005, + 0.3865375816822052 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spatula": [ + 295, + 306, + 479, + 516 + ], + "tomato sauce": [ + 538, + 64, + 679, + 317 + ], + "toy rice ball": [ + 381, + 541, + 521, + 677 + ], + "cloth": [ + 70, + 158, + 325, + 339 + ], + "microwave": [ + 208, + 3, + 600, + 251 + ], + "toy croissant": [ + 553, + 365, + 690, + 530 + ] + } + } + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "push cloth under microwave", + "subtask_reasoning": "The robot has approached and made contact with the blue cloth near the microwave. The gripper remains open, indicating no grasping has occurred. The next action is to push the cloth forward under the microwave while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825426995754242, + 0.2332780361175537, + 0.015225589275360107, + 3.0762791633605957, + -0.17525748908519745, + 0.3751388490200043 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "push cloth under microwave", + "subtask_reasoning": "The robot has approached and made contact with the blue cloth near the microwave. The gripper remains open, indicating no grasping has occurred. The next action is to push the cloth forward under the microwave while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39041078090667725, + 0.22738906741142273, + 0.01779770851135254, + 3.0713558197021484, + -0.1812358796596527, + 0.35721567273139954 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "push cloth under microwave", + "subtask_reasoning": "The robot has approached and made contact with the blue cloth near the microwave. The gripper remains open, indicating no grasping has occurred. The next action is to push the cloth forward under the microwave while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39056941866874695, + 0.22067415714263916, + 0.017141064628958702, + 3.0648303031921387, + -0.17851534485816956, + 0.345442533493042 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "push cloth under microwave", + "subtask_reasoning": "The robot has approached and made contact with the blue cloth near the microwave. The gripper remains open, indicating no grasping has occurred. The next action is to push the cloth forward under the microwave while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3890148401260376, + 0.2144077867269516, + 0.03395197167992592, + 3.0673270225524902, + -0.16835936903953552, + 0.34254899621009827 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "retreat after push", + "subtask_reasoning": "The robot has approached and made contact with the blue cloth near the microwave. The gripper remains open, indicating no grasping has occurred. The next action is to push the cloth forward under the microwave while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3910824954509735, + 0.20835450291633606, + 0.06240485981106758, + 3.053034782409668, + -0.20318444073200226, + 0.3272266387939453 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "retreat after push", + "subtask_reasoning": "The robot has approached and made contact with the blue cloth near the microwave. The gripper remains open, indicating no grasping has occurred. The next action is to push the cloth forward under the microwave while maintaining contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.38459542393684387, + 0.20619498193264008, + 0.06958992779254913, + 3.0568032264709473, + -0.1555330604314804, + 0.3261556625366211 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "retreat after push", + "subtask_reasoning": "The robot has completed pushing the blue cloth under the microwave and is now in the retreat phase. The gripper remains open with no grasp evidence, and the end-effector is moving away from the cloth. The next action is to continue retracting the arm to a safe distance while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3759893476963043, + 0.1982239931821823, + 0.09878816455602646, + 3.0604922771453857, + -0.17855703830718994, + 0.28177598118782043 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "retreat after push", + "subtask_reasoning": "The robot has completed pushing the blue cloth under the microwave and is now in the retreat phase. The gripper remains open with no grasp evidence, and the end-effector is moving away from the cloth. The next action is to continue retracting the arm to a safe distance while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.377810001373291, + 0.1947758048772812, + 0.10297262668609619, + 3.0638115406036377, + -0.18917864561080933, + 0.2691550850868225 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Push the blue cloth under the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "push cloth under microwave" + }, + { + "id": 4, + "subtask": "retreat after push" + } + ], + "subtask_name": "retreat after push", + "subtask_reasoning": "The robot has completed pushing the blue cloth under the microwave and is now in the retreat phase. The gripper remains open with no grasp evidence, and the end-effector is moving away from the cloth. The next action is to continue retracting the arm to a safe distance while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000785_ecot.json b/cot/chunk-0000/episode_0000785_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e5e9b951c91320071b4cb98c696d251cf49d2802 --- /dev/null +++ b/cot/chunk-0000/episode_0000785_ecot.json @@ -0,0 +1,2362 @@ +{ + "task_name": "episode_0000785", + "episode_json": "json/chunk-0000/episode_0000785.json", + "video_path": "videos/chunk-0000/image_0/episode_0000785.mp4", + "instruction": "Close the boxer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000785.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.8779494166374207, + "std": 0.38151219487190247, + "delta_total": -0.0006677508354187012, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.87795, std=0.38151, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 215, + 215, + 215, + 315, + 315, + 315, + 315, + 115, + 115, + 115, + 115, + 126, + 126, + 126, + 126, + 126, + 126 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ], + [ + 3, + 15, + 17 + ], + [ + 4, + 18, + 21 + ], + [ + 5, + 22, + 25 + ], + [ + 6, + 26, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the red drawer handle with open gripper, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and push drawer closed\", \"start\": 6, \"end\": 14, \"planning\": \"Apply forward pressure on the drawer handle to slide it shut without grasping, using body contact or nudging motion.\"},\n {\"id\": 3, \"name\": \"grasp drawer handle for final closure\", \"start\": 15, \"end\": 17, \"planning\": \"Close gripper around drawer handle as confirmed by segment-level closing evidence and visual alignment, securing grip for precise control.\"},\n {\"id\": 4, \"name\": \"push drawer fully closed while holding\", \"start\": 18, \"end\": 21, \"planning\": \"Maintain gripper closure and apply steady forward force to ensure drawer is completely seated in closed position.\"},\n {\"id\": 5, \"name\": \"release contact and retreat slightly\", \"start\": 22, \"end\": 25, \"planning\": \"Open gripper to release handle and withdraw end-effector slightly to disengage from drawer mechanism.\"},\n {\"id\": 6, \"name\": \"retreat to safe position after task completion\", \"start\": 26, \"end\": 31, \"planning\": \"Lift and move end-effector away from drawer area to neutral pose, confirming task completion with gripper fully open.\"}\n ],\n \"global_plan\": \"Close the red drawer by first approaching and pushing it shut via contact, then grasping the handle for fine control during final closure, releasing, and retreating to a safe position.\",\n \"notes\": \"Gripper usage is restricted to segments 3 and 6 where segment-level evidence confirms meaningful closing; other phases use contact-based actions to avoid hallucination. Segment 2 (frames 6-14) shows no gripper closure — thus described as pushing/nudging. Segment 5 (22-25) has no gripper change — treated as release and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the red drawer handle with open gripper, preparing for contact." + }, + { + "id": 2, + "name": "make contact and push drawer closed", + "start": 6, + "end": 14, + "planning": "Apply forward pressure on the drawer handle to slide it shut without grasping, using body contact or nudging motion." + }, + { + "id": 3, + "name": "grasp drawer handle for final closure", + "start": 15, + "end": 17, + "planning": "Close gripper around drawer handle as confirmed by segment-level closing evidence and visual alignment, securing grip for precise control." + }, + { + "id": 4, + "name": "push drawer fully closed while holding", + "start": 18, + "end": 21, + "planning": "Maintain gripper closure and apply steady forward force to ensure drawer is completely seated in closed position." + }, + { + "id": 5, + "name": "release contact and retreat slightly", + "start": 22, + "end": 25, + "planning": "Open gripper to release handle and withdraw end-effector slightly to disengage from drawer mechanism." + }, + { + "id": 6, + "name": "retreat to safe position after task completion", + "start": 26, + "end": 31, + "planning": "Lift and move end-effector away from drawer area to neutral pose, confirming task completion with gripper fully open." + } + ], + "global_plan": "Close the red drawer by first approaching and pushing it shut via contact, then grasping the handle for fine control during final closure, releasing, and retreating to a safe position.", + "notes": "Gripper usage is restricted to segments 3 and 6 where segment-level evidence confirms meaningful closing; other phases use contact-based actions to avoid hallucination. Segment 2 (frames 6-14) shows no gripper closure — thus described as pushing/nudging. Segment 5 (22-25) has no gripper change — treated as release and retreat." + } + }, + "episode_goal": "Close the red drawer of the wooden box.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28024178743362427, + -0.09384984523057938, + 0.08875501900911331, + -3.130453586578369, + -0.15734021365642548, + -0.028054796159267426 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open, indicating the approach phase is underway. No contact or grasping has occurred yet as per the segment evidence. The next action is to move the gripper closer to align with the handle for subsequent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move down 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27706876397132874, + -0.09330110251903534, + 0.07974337041378021, + -3.123443126678467, + -0.12548698484897614, + -0.02989521622657776 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the red drawer handle with the gripper open, indicating the approach phase is underway. No contact or grasping has occurred yet as per the segment evidence. The next action is to move the gripper closer to align with the handle for subsequent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29374101758003235, + -0.10074011981487274, + 0.06870776414871216, + -3.1311283111572266, + -0.1063910648226738, + -0.05594157427549362 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31915345788002014, + -0.10575507581233978, + 0.055930428206920624, + -3.107870101928711, + -0.12402451038360596, + -0.10099532455205917 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move back 5 cm, move left 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34090888500213623, + -0.106676384806633, + 0.039029620587825775, + -3.0559122562408447, + -0.10089833289384842, + -0.13908232748508453 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 5 cm, move left 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3580591678619385, + -0.10159166902303696, + 0.030506212264299393, + -2.982043743133545, + -0.08503337949514389, + -0.15969298779964447 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move left 3 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36366337537765503, + -0.09829024970531464, + 0.025343865156173706, + -2.930873155593872, + -0.06891332566738129, + -0.16868895292282104 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey plush toy": [ + 265, + 4, + 446, + 275 + ], + "red toy pepper": [ + 293, + 658, + 473, + 905 + ], + "blue sponge": [ + 451, + 216, + 626, + 393 + ], + "grey tape": [ + 212, + 470, + 365, + 629 + ], + "wooden box": [ + 131, + 21, + 703, + 604 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 1 cm, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36117494106292725, + -0.095731720328331, + 0.02402835339307785, + -2.9085328578948975, + -0.06352145224809647, + -0.16910412907600403 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536835312843323, + -0.0946841686964035, + 0.026633989065885544, + -2.9177496433258057, + -0.07242187112569809, + -0.1636510044336319 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410626947879791, + -0.09034541994333267, + 0.030030248686671257, + -2.9210314750671387, + -0.0734686627984047, + -0.15089944005012512 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey plush toy": [ + 266, + 4, + 448, + 276 + ], + "blue sponge": [ + 461, + 219, + 611, + 390 + ], + "grey tape": [ + 212, + 469, + 365, + 629 + ], + "red toy pepper": [ + 292, + 658, + 473, + 905 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot is positioned near the open red drawer with the gripper open and no contact yet established. The current subtask involves approaching the drawer handle to prepare for closure. The next action should be to move the gripper closer to the handle for potential contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32679063081741333, + -0.08735445886850357, + 0.03420849144458771, + -2.921323776245117, + -0.06692303717136383, + -0.13076633214950562 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open as it pushes the drawer inward to close it. The next action is to continue applying forward force until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31931212544441223, + -0.0846143364906311, + 0.03367305174469948, + -2.9129135608673096, + -0.06955620646476746, + -0.12320397794246674 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open as it pushes the drawer inward to close it. The next action is to continue applying forward force until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31466034054756165, + -0.07916252315044403, + 0.02982032671570778, + -2.8964037895202637, + -0.05506792291998863, + -0.11531684547662735 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open as it pushes the drawer inward to close it. The next action is to continue applying forward force until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move left 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159502446651459, + -0.07759717106819153, + 0.029928134754300117, + -2.8951969146728516, + -0.06188857927918434, + -0.10724742710590363 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open as it pushes the drawer inward to close it. The next action is to continue applying forward force until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3148340582847595, + -0.07324155420064926, + 0.02258649282157421, + -2.8877146244049072, + -0.039752937853336334, + -0.09299663454294205 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "make contact and push drawer closed", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open as it pushes the drawer inward to close it. The next action is to continue applying forward force until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31559324264526367, + -0.06350192427635193, + 0.014397635124623775, + -2.878593683242798, + -0.00697632972151041, + -0.06941783428192139 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "grasp drawer handle for final closure", + "subtask_reasoning": "The robot end-effector is in contact with the red drawer handle, having completed the approach phase. The gripper remains open as it pushes the drawer inward to close it. The next action is to continue applying forward force until the drawer is fully shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31975099444389343, + -0.05802498757839203, + 0.014166842214763165, + -2.869171142578125, + -0.0005111137870699167, + -0.04663238674402237 + ], + "gripper_value": 0.1778956800699234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "grasp drawer handle for final closure", + "subtask_reasoning": "The robot has approached the red drawer and made initial contact to push it closed. The gripper is now positioned around the drawer handle with a decreasing gripper value, indicating an active grasp for fine control. The next action is to complete the closure by pulling the handle while maintaining the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32235628366470337, + -0.045010507106781006, + 0.01210725400596857, + -2.8595499992370605, + 0.001602557604201138, + -0.010696519166231155 + ], + "gripper_value": 0.1311166137456894 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "grasp drawer handle for final closure", + "subtask_reasoning": "The robot has approached the red drawer and made initial contact to push it closed. The gripper is now positioned around the drawer handle with a decreasing gripper value, indicating an active grasp for fine control. The next action is to complete the closure by pulling the handle while maintaining the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32255908846855164, + -0.02992444671690464, + 0.009260609745979309, + -2.8315248489379883, + 0.02243797667324543, + 0.024057891219854355 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "push drawer fully closed while holding", + "subtask_reasoning": "The robot has approached the red drawer and made initial contact to push it closed. The gripper is now positioned around the drawer handle with a decreasing gripper value, indicating an active grasp for fine control. The next action is to complete the closure by pulling the handle while maintaining the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32229214906692505, + -0.02772018313407898, + 0.007954174652695656, + -2.8224587440490723, + 0.02786734141409397, + 0.02801506407558918 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "push drawer fully closed while holding", + "subtask_reasoning": "The robot is in contact with the red drawer handle, maintaining a push to keep the drawer closed. The gripper signal indicates no active grasping motion, consistent with a contact-based pushing strategy. The next action is to maintain this contact pressure to ensure the drawer remains fully shut before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper; then move right 3 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227750062942505, + -0.024731779471039772, + 0.008090721443295479, + -2.814995288848877, + 0.02405196614563465, + 0.0447685644030571 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "push drawer fully closed while holding", + "subtask_reasoning": "The robot is in contact with the red drawer handle, maintaining a push to keep the drawer closed. The gripper signal indicates no active grasping motion, consistent with a contact-based pushing strategy. The next action is to maintain this contact pressure to ensure the drawer remains fully shut before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32177457213401794, + -0.020992424339056015, + 0.007782368455082178, + -2.813953161239624, + 0.02404761128127575, + 0.0642448216676712 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "push drawer fully closed while holding", + "subtask_reasoning": "The robot is in contact with the red drawer handle, maintaining a push to keep the drawer closed. The gripper signal indicates no active grasping motion, consistent with a contact-based pushing strategy. The next action is to maintain this contact pressure to ensure the drawer remains fully shut before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192732334136963, + 0.0011826239060610533, + 0.009564591571688652, + -2.819912910461426, + 0.04254460334777832, + 0.12980231642723083 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy pepper": [ + 293, + 658, + 473, + 905 + ], + "grey plush toy": [ + 266, + 3, + 446, + 274 + ], + "wooden box": [ + 133, + 20, + 592, + 556 + ], + "grey tape": [ + 212, + 466, + 363, + 628 + ], + "red drawer face": [ + 420, + 172, + 583, + 542 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The robot is in contact with the red drawer handle, maintaining a push to keep the drawer closed. The gripper signal indicates no active grasping motion, consistent with a contact-based pushing strategy. The next action is to maintain this contact pressure to ensure the drawer remains fully shut before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3163587749004364, + 0.00354891549795866, + 0.010831782594323158, + -2.848900556564331, + 0.0692879855632782, + 0.15064497292041779 + ], + "gripper_value": 0.12220374494791031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The red drawer is closed, and the gripper is in contact with the handle. The gripper has opened (value 0.12) within this segment, indicating release. The next action is to retreat the arm slightly to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3153206706047058, + 0.00796565506607294, + 0.015051898546516895, + -2.88433575630188, + 0.07643502205610275, + 0.1723170131444931 + ], + "gripper_value": 0.147182896733284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The red drawer is closed, and the gripper is in contact with the handle. The gripper has opened (value 0.12) within this segment, indicating release. The next action is to retreat the arm slightly to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142530024051666, + 0.011300444602966309, + 0.015527636744081974, + -2.906467914581299, + 0.0835549607872963, + 0.1889774054288864 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "release contact and retreat slightly", + "subtask_reasoning": "The red drawer is closed, and the gripper is in contact with the handle. The gripper has opened (value 0.12) within this segment, indicating release. The next action is to retreat the arm slightly to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 22, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31318023800849915, + 0.012359724380075932, + 0.015513837337493896, + -2.9066641330718994, + 0.08964526653289795, + 0.17893536388874054 + ], + "gripper_value": 0.7091560959815979 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "retreat to safe position after task completion", + "subtask_reasoning": "The red drawer is closed, and the gripper is in contact with the handle. The gripper has opened (value 0.12) within this segment, indicating release. The next action is to retreat the arm slightly to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31297504901885986, + 0.00998627208173275, + 0.01899653859436512, + -2.9147188663482666, + 0.08833927661180496, + 0.16432425379753113 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "retreat to safe position after task completion", + "subtask_reasoning": "The red drawer is closed, and the gripper is in contact with the handle. The gripper has opened (value 0.12) within this segment, indicating release. The next action is to retreat the arm slightly to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31352710723876953, + -0.0004962511593475938, + 0.03516794741153717, + -2.951009511947632, + 0.06930079311132431, + 0.13709081709384918 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "retreat to safe position after task completion", + "subtask_reasoning": "The red drawer is fully closed and the robot has completed the closure task. The gripper is open (0.998) and positioned near the drawer handle, indicating release after final closure. The next action is to retreat the arm to a safe position away from the box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 26, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176165223121643, + -0.015535435639321804, + 0.05582745745778084, + -3.0064356327056885, + 0.04107663780450821, + 0.0981784537434578 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "retreat to safe position after task completion", + "subtask_reasoning": "The red drawer is fully closed and the robot has completed the closure task. The gripper is open (0.998) and positioned near the drawer handle, indicating release after final closure. The next action is to retreat the arm to a safe position away from the box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32589179277420044, + -0.033406518399715424, + 0.07377100735902786, + -3.0806431770324707, + 0.007567128632217646, + 0.06286785006523132 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "retreat to safe position after task completion", + "subtask_reasoning": "The red drawer is fully closed and the robot has completed the closure task. The gripper is open (0.998) and positioned near the drawer handle, indicating release after final closure. The next action is to retreat the arm to a safe position away from the box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32584911584854126, + -0.03981780633330345, + 0.08351238071918488, + -3.1231489181518555, + -0.0004933914169669151, + 0.05932534858584404 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy pepper": [ + 293, + 658, + 472, + 906 + ], + "open drawer": [ + 444, + 262, + 650, + 522 + ], + "wooden box": [ + 131, + 18, + 593, + 553 + ], + "grey plush toy": [ + 265, + 4, + 445, + 275 + ], + "red drawer face": [ + 413, + 180, + 568, + 534 + ] + } + } + }, + "Understanding": { + "goal": "Close the red drawer of the wooden box." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact and push drawer closed" + }, + { + "id": 3, + "subtask": "grasp drawer handle for final closure" + }, + { + "id": 4, + "subtask": "push drawer fully closed while holding" + }, + { + "id": 5, + "subtask": "release contact and retreat slightly" + }, + { + "id": 6, + "subtask": "retreat to safe position after task completion" + } + ], + "subtask_name": "retreat to safe position after task completion", + "subtask_reasoning": "The red drawer is fully closed and the robot has completed the closure task. The gripper is open (0.998) and positioned near the drawer handle, indicating release after final closure. The next action is to retreat the arm to a safe position away from the box." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000786_ecot.json b/cot/chunk-0000/episode_0000786_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..de60a67fdaef45cd6113faca68dd5074b0be6c28 --- /dev/null +++ b/cot/chunk-0000/episode_0000786_ecot.json @@ -0,0 +1,2450 @@ +{ + "task_name": "episode_0000786", + "episode_json": "json/chunk-0000/episode_0000786.json", + "video_path": "videos/chunk-0000/image_0/episode_0000786.mp4", + "instruction": "Place the white cuboid on the whire arc.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000786.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.4460291266441345, + "std": 0.19442972540855408, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.44603, std=0.19443, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp white cuboid\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the white cuboid with red markings and close gripper to secure it, as confirmed by gripper value drop from ~1.0 to 0.56 and visual confirmation of contact in frame 12.\"},\n {\"id\": 2, \"name\": \"transport cuboid toward white arc\", \"start\": 13, \"end\": 26, \"planning\": \"Lift and carry the grasped white cuboid along a trajectory toward the target white arc location, maintaining grip (gripper stable at ~0.56) while adjusting position and orientation for placement.\"},\n {\"id\": 3, \"name\": \"align and place cuboid on white arc\", \"start\": 27, \"end\": 40, \"planning\": \"Fine-tune position over the white arc, release gripper (value rises to ~1.0 by frame 40), and retreat slightly after placing the cuboid securely on the arc, as seen in final frame.\"}\n ],\n \"global_plan\": \"Grasp the white cuboid with red markings, transport it to the white arc, and place it precisely on top of the arc structure.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.44) consistent with grasping; Segment 2 shows sustained grip followed by release (gripper opens to ~1.0). All subtasks are contiguous and cover full timeline [0,40]. Placement is visually confirmed in frame 40.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp white cuboid", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the white cuboid with red markings and close gripper to secure it, as confirmed by gripper value drop from ~1.0 to 0.56 and visual confirmation of contact in frame 12." + }, + { + "id": 2, + "name": "transport cuboid toward white arc", + "start": 13, + "end": 26, + "planning": "Lift and carry the grasped white cuboid along a trajectory toward the target white arc location, maintaining grip (gripper stable at ~0.56) while adjusting position and orientation for placement." + }, + { + "id": 3, + "name": "align and place cuboid on white arc", + "start": 27, + "end": 40, + "planning": "Fine-tune position over the white arc, release gripper (value rises to ~1.0 by frame 40), and retreat slightly after placing the cuboid securely on the arc, as seen in final frame." + } + ], + "global_plan": "Grasp the white cuboid with red markings, transport it to the white arc, and place it precisely on top of the arc structure.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.44) consistent with grasping; Segment 2 shows sustained grip followed by release (gripper opens to ~1.0). All subtasks are contiguous and cover full timeline [0,40]. Placement is visually confirmed in frame 40." + } + }, + "episode_goal": "Place the white cuboid on the white arc.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26345574855804443, + 0.033530790358781815, + 0.09980607032775879, + 2.997206687927246, + 0.020892685279250145, + 1.8001409769058228 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot is positioned above the table with the white cuboid (red markings) visible below. The gripper is currently open and approaching the target object. The next action is to lower the end-effector and close the gripper to grasp the white cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26005661487579346, + 0.0326816663146019, + 0.0920422226190567, + 3.024686574935913, + 0.018146494403481483, + 1.7991645336151123 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot is positioned above the table with the white cuboid (red markings) visible below. The gripper is currently open and approaching the target object. The next action is to lower the end-effector and close the gripper to grasp the white cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26026296615600586, + 0.030455822125077248, + 0.07845132797956467, + 3.0477113723754883, + 0.0011274050921201706, + 1.77431058883667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot is positioned above the table with the white cuboid (red markings) visible below. The gripper is currently open and approaching the target object. The next action is to lower the end-effector and close the gripper to grasp the white cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603016793727875, + 0.027723783627152443, + 0.06365600973367691, + 3.0652661323547363, + -0.009081687778234482, + 1.7541570663452148 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot is positioned above the table with the white cuboid (red markings) visible below. The gripper is currently open and approaching the target object. The next action is to lower the end-effector and close the gripper to grasp the white cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2605336606502533, + 0.02221810258924961, + 0.05205046012997627, + 3.0742781162261963, + 0.0050805662758648396, + 1.7476043701171875 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot is positioned above the table with the white cuboid (red markings) visible below. The gripper is currently open and approaching the target object. The next action is to lower the end-effector and close the gripper to grasp the white cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606314718723297, + 0.015376056544482708, + 0.040132734924554825, + 3.0738449096679688, + 0.047600116580724716, + 1.7355471849441528 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot is positioned above the table with the white cuboid (red markings) visible below. The gripper is currently open and approaching the target object. The next action is to lower the end-effector and close the gripper to grasp the white cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26034194231033325, + 0.01255867537111044, + 0.029035324230790138, + 3.0714614391326904, + 0.06576258689165115, + 1.7392899990081787 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 4 cm, move right 2 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.263294517993927, + 0.01065104641020298, + 0.023556441068649292, + 3.0587079524993896, + 0.07993919402360916, + 1.732003927230835 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 5, + 996, + 994 + ], + "stand leg": [ + 59, + 672, + 127, + 807 + ], + "white sphere": [ + 190, + 139, + 284, + 253 + ], + "white cup": [ + 247, + 302, + 344, + 415 + ] + } + } + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657666802406311, + 0.010827800258994102, + 0.019361697137355804, + 3.062908887863159, + 0.07945664972066879, + 1.7280569076538086 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27045854926109314, + 0.01100383885204792, + 0.019415395334362984, + 3.060709238052368, + 0.08028373122215271, + 1.719447374343872 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26879939436912537, + 0.00857020728290081, + 0.020449893549084663, + 3.0782968997955322, + 0.06905894726514816, + 1.6916190385818481 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2791597545146942, + -0.0018623443320393562, + 0.046453092247247696, + 3.0263314247131348, + 0.0769343450665474, + 1.670339584350586 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 5 cm, keep gripper closed; then move forward 7 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903197407722473, + -0.013776430860161781, + 0.07755343616008759, + 2.97322940826416, + 0.09662549197673798, + 1.648624062538147 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white sphere": [ + 191, + 135, + 284, + 252 + ], + "wooden table": [ + 3, + 5, + 996, + 994 + ], + "stand leg": [ + 59, + 673, + 126, + 807 + ], + "white cup": [ + 363, + 57, + 465, + 242 + ], + "white cylinder": [ + 750, + 281, + 888, + 558 + ] + } + } + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "approach and grasp white cuboid", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29897522926330566, + -0.031222742050886154, + 0.09294574707746506, + 2.954502820968628, + 0.06500007957220078, + 1.5852559804916382 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31165018677711487, + -0.04620032012462616, + 0.08119653910398483, + 2.9853343963623047, + -0.012517189607024193, + 1.5265538692474365 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244567811489105, + -0.05127435177564621, + 0.06444855034351349, + 3.020432472229004, + -0.05971437320113182, + 1.4922267198562622 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33466315269470215, + -0.05175191909074783, + 0.057564858347177505, + 3.035122871398926, + -0.06990644335746765, + 1.5005488395690918 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34546512365341187, + -0.05096786096692085, + 0.06498049199581146, + 3.0184326171875, + -0.04296502843499184, + 1.5356916189193726 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35328149795532227, + -0.046737343072891235, + 0.07384102046489716, + 3.005916118621826, + -0.022926272824406624, + 1.5671859979629517 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white cup": [ + 363, + 56, + 468, + 244 + ], + "wooden table": [ + 3, + 4, + 995, + 994 + ], + "white sphere": [ + 192, + 135, + 283, + 252 + ], + "stand leg": [ + 66, + 673, + 125, + 806 + ], + "white cylinder": [ + 753, + 281, + 888, + 558 + ] + } + } + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot arm is positioned directly above the white cuboid with red markings on the table. The gripper is currently open and aligned with the object, indicating the approach phase is complete. The next action is to close the gripper to grasp the cuboid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.355275958776474, + -0.03765738010406494, + 0.07485634833574295, + 3.0051655769348145, + -0.0076820808462798595, + 1.6052926778793335 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35803624987602234, + -0.03053816594183445, + 0.07030849903821945, + 3.0157501697540283, + 0.000631576229352504, + 1.6360150575637817 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657688796520233, + -0.024826625362038612, + 0.07541640102863312, + 3.0028860569000244, + 0.01713232323527336, + 1.6686911582946777 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37112244963645935, + -0.02118527516722679, + 0.07540974766016006, + 3.008445978164673, + 0.03134511783719063, + 1.6896190643310547 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37751245498657227, + -0.0169876366853714, + 0.07453005015850067, + 3.0141639709472656, + 0.03795228525996208, + 1.7010730504989624 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38162198662757874, + -0.013260566629469395, + 0.07024073600769043, + 3.0230343341827393, + 0.03638758882880211, + 1.700474739074707 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 4, + 995, + 994 + ], + "white cup": [ + 362, + 56, + 468, + 244 + ], + "white sphere": [ + 191, + 135, + 284, + 251 + ], + "stand leg": [ + 61, + 673, + 125, + 807 + ] + } + } + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.38119590282440186, + -0.009695221669971943, + 0.06554790586233139, + 3.0341007709503174, + 0.02884298376739025, + 1.6929235458374023 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821287453174591, + -0.0019670003093779087, + 0.0644710510969162, + 3.029141902923584, + 0.015595560893416405, + 1.6918189525604248 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "transport cuboid toward white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820616900920868, + -0.000794527237303555, + 0.0638849213719368, + 3.0306639671325684, + 0.015403343364596367, + 1.6949105262756348 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821341395378113, + 0.00016928451077546924, + 0.06447149068117142, + 3.0293171405792236, + 0.016980135813355446, + 1.6985944509506226 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3841295540332794, + 0.003707964438945055, + 0.05805948004126549, + 3.0414927005767822, + 0.015433533117175102, + 1.7079956531524658 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3841206729412079, + 0.0045056394301354885, + 0.05805904418230057, + 3.04131817817688, + 0.014056847430765629, + 1.7088732719421387 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.38515788316726685, + 0.005525653250515461, + 0.05791645869612694, + 3.036405324935913, + 0.011877425014972687, + 1.709036111831665 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3853118121623993, + 0.005942394025623798, + 0.05818776413798332, + 3.0330185890197754, + 0.00950593501329422, + 1.7076839208602905 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot has successfully grasped the white cuboid with red markings and is currently transporting it across the table toward the white arc structure. The gripper remains closed with minimal variance, confirming the object is held securely during transit. The next action is to continue moving the end-effector to position the cuboid directly above the target arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3843182921409607, + 0.007139691151678562, + 0.0570998452603817, + 3.035557985305786, + 0.0050091249868273735, + 1.7072559595108032 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3838490843772888, + 0.009693292900919914, + 0.05582078546285629, + 3.0369157791137695, + 0.0034643339458853006, + 1.7127068042755127 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.38115194439888, + 0.011974338442087173, + 0.053263913840055466, + 3.046053886413574, + 0.002365655032917857, + 1.718854546546936 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3794825077056885, + 0.011888169683516026, + 0.05171705782413483, + 3.049591064453125, + 0.005955218803137541, + 1.7209008932113647 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 3, + 4, + 996, + 994 + ], + "white cup": [ + 362, + 56, + 468, + 244 + ], + "white sphere": [ + 191, + 135, + 283, + 252 + ], + "stand leg": [ + 60, + 673, + 125, + 807 + ], + "white cylinder": [ + 752, + 281, + 888, + 558 + ] + } + } + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.37814176082611084, + 0.012428111396729946, + 0.05168406292796135, + 3.0495920181274414, + 0.005963664967566729, + 1.7224180698394775 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.37495481967926025, + 0.012706761248409748, + 0.050524380058050156, + 3.0695786476135254, + 0.0053054699674248695, + 1.7309590578079224 + ], + "gripper_value": 0.9091293215751648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.37330588698387146, + 0.013283329084515572, + 0.05008871480822563, + 3.0781915187835693, + 0.0007366618956439197, + 1.739641785621643 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3702142536640167, + 0.014255243353545666, + 0.0505019910633564, + 3.09538197517395, + -0.007980267517268658, + 1.75009024143219 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white cuboid on the white arc." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp white cuboid" + }, + { + "id": 2, + "subtask": "transport cuboid toward white arc" + }, + { + "id": 3, + "subtask": "align and place cuboid on white arc" + } + ], + "subtask_name": "align and place cuboid on white arc", + "subtask_reasoning": "The robot is currently positioned above the white arc with the white cuboid held in the gripper, as indicated by the stable high gripper value. The cuboid has been transported to the target location but is not yet placed. The next action is to lower the end-effector to make contact and release the cuboid onto the arc." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000787_ecot.json b/cot/chunk-0000/episode_0000787_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..474ec8a925144b5695753d3a0a41e361271b3a90 --- /dev/null +++ b/cot/chunk-0000/episode_0000787_ecot.json @@ -0,0 +1,1536 @@ +{ + "task_name": "episode_0000787", + "episode_json": "json/chunk-0000/episode_0000787.json", + "video_path": "videos/chunk-0000/image_0/episode_0000787.mp4", + "instruction": "Pick up box cutter and put into drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000787.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.3363526463508606, + "std": 0.1541782021522522, + "delta_total": -0.19858777523040771, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33635, std=0.15418, total_delta=-0.19859). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 10 + ], + [ + 3, + 11, + 16 + ], + [ + 4, + 17, + 22 + ], + [ + 5, + 23, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box cutter\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the box cutter in the drawer without closing gripper.\"},\n {\"id\": 2, \"name\": \"make contact with box cutter\", \"start\": 11, \"end\": 16, \"planning\": \"Position gripper to make physical contact with the box cutter handle, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp box cutter\", \"start\": 17, \"end\": 22, \"planning\": \"Close gripper around box cutter handle and secure hold as evidenced by gripper value drop and motion stability.\"},\n {\"id\": 4, \"name\": \"reposition box cutter in drawer\", \"start\": 23, \"end\": 23, \"planning\": \"Slightly adjust position of held box cutter within drawer space, maintaining grip.\"}\n ],\n \"global_plan\": \"Approach the box cutter in the open drawer, make contact, grasp it securely using gripper closure observed in segment 4, then reposition it slightly within the drawer while maintaining hold.\",\n \"notes\": \"Gripper evidence shows no meaningful closing until segment 4 (frames 17-22), where gripper value drops from ~0.997 to ~0.661 and remains stable — consistent with grasping. Segment 5 (frame 23) shows gripper opening slightly but still holding; thus, 'reposition' is appropriate. Segments 1-3 show no gripper closure, so only approach and contact terms are used.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box cutter", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the box cutter in the drawer without closing gripper." + }, + { + "id": 2, + "name": "make contact with box cutter", + "start": 11, + "end": 16, + "planning": "Position gripper to make physical contact with the box cutter handle, preparing for grasp." + }, + { + "id": 3, + "name": "grasp box cutter", + "start": 17, + "end": 22, + "planning": "Close gripper around box cutter handle and secure hold as evidenced by gripper value drop and motion stability." + }, + { + "id": 4, + "name": "reposition box cutter in drawer", + "start": 23, + "end": 23, + "planning": "Slightly adjust position of held box cutter within drawer space, maintaining grip." + } + ], + "global_plan": "Approach the box cutter in the open drawer, make contact, grasp it securely using gripper closure observed in segment 4, then reposition it slightly within the drawer while maintaining hold.", + "notes": "Gripper evidence shows no meaningful closing until segment 4 (frames 17-22), where gripper value drops from ~0.997 to ~0.661 and remains stable — consistent with grasping. Segment 5 (frame 23) shows gripper opening slightly but still holding; thus, 'reposition' is appropriate. Segments 1-3 show no gripper closure, so only approach and contact terms are used." + } + }, + "episode_goal": "Pick up the box cutter and place it into the open drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29679161310195923, + -0.14697898924350739, + 0.21665528416633606, + -3.0974912643432617, + -0.021541539579629898, + 0.06711804866790771 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The scene shows an open red drawer containing various tools, including a box cutter. The robot arm is positioned above the drawer but has not yet made contact with the box cutter. The next action should involve moving the arm closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 13 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2971903681755066, + -0.14553068578243256, + 0.20539981126785278, + -3.0967793464660645, + 0.02792048454284668, + 0.0991181805729866 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The scene shows an open red drawer containing various tools, including a box cutter. The robot arm is positioned above the drawer but has not yet made contact with the box cutter. The next action should involve moving the arm closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 14 cm, move down 13 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30743616819381714, + -0.10210183262825012, + 0.20346036553382874, + -3.1224963665008545, + 0.100342757999897, + 0.3709107041358948 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The scene shows an open red drawer containing various tools, including a box cutter. The robot arm is positioned above the drawer but has not yet made contact with the box cutter. The next action should involve moving the arm closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30400657653808594, + -0.08188289403915405, + 0.1894838660955429, + -3.0765316486358643, + 0.09883801639080048, + 0.4994322955608368 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The scene shows an open red drawer containing various tools, including a box cutter. The robot arm is positioned above the drawer but has not yet made contact with the box cutter. The next action should involve moving the arm closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998521029949188, + -0.05274398252367973, + 0.17328768968582153, + -3.009831190109253, + -0.030434152111411095, + 0.5219601392745972 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The scene shows an open red drawer containing various tools, including a box cutter. The robot arm is positioned above the drawer but has not yet made contact with the box cutter. The next action should involve moving the arm closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29708340764045715, + -0.03719087690114975, + 0.1525053232908249, + -2.988337516784668, + -0.11195921897888184, + 0.5050070285797119 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 7 cm, tilt right 10 degrees, keep gripper open; then move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29956182837486267, + -0.017336545512080193, + 0.13807018101215363, + -3.0153703689575195, + -0.15476757287979126, + 0.5458935499191284 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 6 cm, tilt right 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.305976927280426, + -0.0032919119112193584, + 0.12860694527626038, + -3.081912040710449, + -0.16765989363193512, + 0.5872101783752441 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red tool chest": [ + 7, + 10, + 992, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, keep gripper open; then move back 2 cm, move up 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30227404832839966, + -0.008926413021981716, + 0.11255987733602524, + -3.0843615531921387, + -0.17211492359638214, + 0.5633829832077026 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move up 1 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29707348346710205, + -0.006247869227081537, + 0.10041303932666779, + -3.1007473468780518, + -0.15812668204307556, + 0.5832860469818115 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 2 cm, move up 1 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29429224133491516, + -0.005752941593527794, + 0.08991307020187378, + -3.1309974193573, + -0.14695535600185394, + 0.5820508003234863 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move up 1 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move right 8 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954114079475403, + -0.0028148251585662365, + 0.0799054503440857, + 3.1295485496520996, + -0.14591000974178314, + 0.5843271017074585 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "make contact with box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 11 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977299392223358, + 0.0006573310238309205, + 0.06956926733255386, + 3.1009397506713867, + -0.13956725597381592, + 0.5944727659225464 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "make contact with box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer containing the box cutter and other tools. No grasping has occurred yet as the gripper remains open. The next action is to lower the end effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 14 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2961815595626831, + -0.001363377901725471, + 0.05853983759880066, + 3.0696351528167725, + -0.13898713886737823, + 0.5935114026069641 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "make contact with box cutter", + "subtask_reasoning": "The robot has approached the box cutter in the open drawer and is now positioned directly above it. The gripper is open and aligned for contact. The next action is to lower the gripper slightly to make physical contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 17 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29791268706321716, + -0.005190220195800066, + 0.05257117375731468, + 3.023981809616089, + -0.1614210456609726, + 0.6118815541267395 + ], + "gripper_value": 0.8956556916236877 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "make contact with box cutter", + "subtask_reasoning": "The robot has approached the box cutter in the open drawer and is now positioned directly above it. The gripper is open and aligned for contact. The next action is to lower the gripper slightly to make physical contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 17 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29993125796318054, + -0.00717743206769228, + 0.05165713280439377, + 3.013813018798828, + -0.18476822972297668, + 0.6255576610565186 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red tool chest": [ + 7, + 10, + 992, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "make contact with box cutter", + "subtask_reasoning": "The robot has approached the box cutter in the open drawer and is now positioned directly above it. The gripper is open and aligned for contact. The next action is to lower the gripper slightly to make physical contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 17 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2913830578327179, + -0.005847547203302383, + 0.059617239981889725, + 3.080265760421753, + -0.11524368822574615, + 0.6102888584136963 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "make contact with box cutter", + "subtask_reasoning": "The robot has approached the box cutter in the open drawer and is now positioned directly above it. The gripper is open and aligned for contact. The next action is to lower the gripper slightly to make physical contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 17 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784000337123871, + -0.007734852842986584, + 0.08607062697410583, + -3.0926082134246826, + -0.010602091439068317, + 0.5907063484191895 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter in the open drawer and is now positioned directly above it. The gripper is open and aligned for contact. The next action is to lower the gripper slightly to make physical contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27073314785957336, + -0.02426040917634964, + 0.12886576354503632, + -3.0550050735473633, + 0.017544087022542953, + 0.6608143448829651 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter in the open drawer and is now positioned directly above it. The gripper is open and aligned for contact. The next action is to lower the gripper slightly to make physical contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 15 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26163092255592346, + -0.05848980322480202, + 0.1533910185098648, + -3.0194783210754395, + -0.009689584374427795, + 0.7611164450645447 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the box cutter inside the open drawer, having completed the approach and initial contact. Since the gripper signal shows no closing activity in this segment, the robot is likely stabilizing or adjusting its pose rather than grasping. The next action should involve fine-tuning the end-effector position to align properly for a secure grasp in the subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26297077536582947, + -0.08692151308059692, + 0.1645507961511612, + -3.058900833129883, + -0.047934792935848236, + 0.833401083946228 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the box cutter inside the open drawer, having completed the approach and initial contact. Since the gripper signal shows no closing activity in this segment, the robot is likely stabilizing or adjusting its pose rather than grasping. The next action should involve fine-tuning the end-effector position to align properly for a secure grasp in the subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2713681757450104, + -0.12117812782526016, + 0.15510401129722595, + -3.0876376628875732, + -0.08767982572317123, + 0.8395997285842896 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the box cutter inside the open drawer, having completed the approach and initial contact. Since the gripper signal shows no closing activity in this segment, the robot is likely stabilizing or adjusting its pose rather than grasping. The next action should involve fine-tuning the end-effector position to align properly for a secure grasp in the subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28411802649497986, + -0.15076667070388794, + 0.14448314905166626, + -3.1164567470550537, + -0.150830939412117, + 0.80531245470047 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the box cutter inside the open drawer, having completed the approach and initial contact. Since the gripper signal shows no closing activity in this segment, the robot is likely stabilizing or adjusting its pose rather than grasping. The next action should involve fine-tuning the end-effector position to align properly for a secure grasp in the subsequent step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2908814251422882, + -0.17375725507736206, + 0.1277124136686325, + 3.078336000442505, + -0.18014201521873474, + 0.7654958367347717 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red tool chest": [ + 8, + 10, + 991, + 989 + ], + "black handled tool": [ + 223, + 511, + 498, + 676 + ], + "black case": [ + 422, + 323, + 707, + 652 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "make contact with box cutter" + }, + { + "id": 3, + "subtask": "grasp box cutter" + }, + { + "id": 4, + "subtask": "reposition box cutter in drawer" + } + ], + "subtask_name": "reposition box cutter in drawer", + "subtask_reasoning": "The box cutter is already inside the open drawer, and the gripper is not closing in this segment. The current situation involves fine repositioning of the tool within the drawer without grasping. The next action is to adjust the end-effector position to settle the box cutter into its final spot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000788_ecot.json b/cot/chunk-0000/episode_0000788_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7d296757a5e8766470d6b13790f075aa77565045 --- /dev/null +++ b/cot/chunk-0000/episode_0000788_ecot.json @@ -0,0 +1,2332 @@ +{ + "task_name": "episode_0000788", + "episode_json": "json/chunk-0000/episode_0000788.json", + "video_path": "videos/chunk-0000/image_0/episode_0000788.mp4", + "instruction": "Fold the cloth from the left to the right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000788.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.5394690036773682, + "std": 0.251522421836853, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.53947, std=0.25152, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 316, + 116, + 116, + 116, + 116, + 116, + 216, + 216, + 216, + 216, + 216, + 227, + 227, + 227, + 227, + 227 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 15 + ], + [ + 3, + 16, + 16 + ], + [ + 4, + 17, + 21 + ], + [ + 5, + 22, + 26 + ], + [ + 6, + 27, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth left edge\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the left side of the yellow cloth near the red pepper without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 12, \"end\": 16, \"planning\": \"Lower gripper to make contact with cloth edge and initiate slight nudge or repositioning motion.\"},\n {\"id\": 3, \"name\": \"slide cloth rightward\", \"start\": 17, \"end\": 21, \"planning\": \"Drag or slide the cloth horizontally to the right while maintaining light contact, no grasp.\"},\n {\"id\": 4, \"name\": \"retract and prepare for fold\", \"start\": 22, \"end\": 26, \"planning\": \"Lift slightly and retreat to reset position before final folding maneuver.\"},\n {\"id\": 5, \"name\": \"grasp and lift cloth corner\", \"start\": 27, \"end\": 29, \"planning\": \"Close gripper to securely grasp the lifted corner of the cloth as evidenced by significant gripper closure.\"},\n {\"id\": 6, \"name\": \"complete fold and release\", \"start\": 30, \"end\": 31, \"planning\": \"Move grasped corner over to complete fold from left to right, then open gripper to release.\"}\n ],\n \"global_plan\": \"Fold the yellow cloth from left to right by first approaching and nudging the left edge, sliding it rightward, retracting, then grasping and lifting the corner to complete the fold.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in segments 1–4; thus, contact-based verbs are used. Segment 6 shows clear gripper closure (range=0.49), permitting 'grasp' and 'lift'. Frame coverage is contiguous and complete from 0 to 31.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth left edge", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the left side of the yellow cloth near the red pepper without grasping." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 12, + "end": 16, + "planning": "Lower gripper to make contact with cloth edge and initiate slight nudge or repositioning motion." + }, + { + "id": 3, + "name": "slide cloth rightward", + "start": 17, + "end": 21, + "planning": "Drag or slide the cloth horizontally to the right while maintaining light contact, no grasp." + }, + { + "id": 4, + "name": "retract and prepare for fold", + "start": 22, + "end": 26, + "planning": "Lift slightly and retreat to reset position before final folding maneuver." + }, + { + "id": 5, + "name": "grasp and lift cloth corner", + "start": 27, + "end": 29, + "planning": "Close gripper to securely grasp the lifted corner of the cloth as evidenced by significant gripper closure." + }, + { + "id": 6, + "name": "complete fold and release", + "start": 30, + "end": 31, + "planning": "Move grasped corner over to complete fold from left to right, then open gripper to release." + } + ], + "global_plan": "Fold the yellow cloth from left to right by first approaching and nudging the left edge, sliding it rightward, retracting, then grasping and lifting the corner to complete the fold.", + "notes": "Gripper evidence confirms no meaningful closing in segments 1–4; thus, contact-based verbs are used. Segment 6 shows clear gripper closure (range=0.49), permitting 'grasp' and 'lift'. Frame coverage is contiguous and complete from 0 to 31." + } + }, + "episode_goal": "Fold the left side of the yellow cloth over to the right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4380771815776825, + -0.09006894379854202, + 0.1074533462524414, + 2.9097280502319336, + -0.2591153681278229, + 0.3006027936935425 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot needs to move towards the left edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 12 cm, move down 9 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4348606765270233, + -0.08950147032737732, + 0.08644752204418182, + 2.932617425918579, + -0.2133154422044754, + 0.2983171343803406 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot needs to move towards the left edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 13 cm, move down 9 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.42637771368026733, + -0.08110833913087845, + 0.07129448652267456, + 2.9605770111083984, + -0.18241839110851288, + 0.3181215524673462 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot needs to move towards the left edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 12 cm, move down 8 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.425546258687973, + -0.05580287426710129, + 0.06672061234712601, + 3.0309906005859375, + -0.19514502584934235, + 0.3897303342819214 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot needs to move towards the left edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 10 cm, move down 8 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4065030515193939, + -0.03306298330426216, + 0.04363526403903961, + 3.062650442123413, + -0.16527333855628967, + 0.42941924929618835 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the start of the episode. The gripper is open and the robot needs to move towards the left edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.39220207929611206, + -0.02120990678668022, + 0.047666843980550766, + 3.067025661468506, + -0.20642027258872986, + 0.4359888732433319 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3699686825275421, + 3.443917375989258e-05, + 0.038479629904031754, + 3.0750625133514404, + -0.21450401842594147, + 0.45050573348999023 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35833147168159485, + 0.014779320918023586, + 0.032100725919008255, + 3.078477382659912, + -0.24116083979606628, + 0.43681079149246216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bottle": [ + 150, + 389, + 301, + 528 + ], + "yellow cloth": [ + 281, + 408, + 888, + 994 + ], + "table": [ + 4, + 251, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35634976625442505, + 0.022790048271417618, + 0.027124257758259773, + 3.08858060836792, + -0.2634674310684204, + 0.41066139936447144 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35204729437828064, + 0.028466470539569855, + 0.018297599628567696, + 3.1041200160980225, + -0.2576310634613037, + 0.38742855191230774 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34834039211273193, + 0.03220865875482559, + 0.013704568147659302, + 3.1077260971069336, + -0.2538550794124603, + 0.3701818585395813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 5 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34260931611061096, + 0.0361187644302845, + -0.0028641168028116226, + 3.134129047393799, + -0.22166520357131958, + 0.3377968370914459 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 6 cm, move left 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33888596296310425, + 0.040735598653554916, + -0.00919954665005207, + -3.1339426040649414, + -0.21976414322853088, + 0.31851935386657715 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 8 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33413073420524597, + 0.047162625938653946, + -0.026190560311079025, + -3.092824935913086, + -0.20380423963069916, + 0.30622509121894836 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 281, + 408, + 887, + 994 + ], + "wooden shelf": [ + 283, + 7, + 996, + 357 + ], + "table": [ + 4, + 281, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having moved into the workspace. No contact with the cloth has occurred yet, and the left edge remains untouched. The next action is to lower and advance the gripper toward the left edge of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move forward 8 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33280685544013977, + 0.048504456877708435, + -0.028837455436587334, + -3.0824904441833496, + -0.20849239826202393, + 0.29687514901161194 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the left edge of the yellow cloth and is now making contact to nudge it rightward. The gripper is open and positioned near the cloth edge, consistent with initiating a sliding motion. The next action is to apply gentle lateral force to shift the left portion of the cloth toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 8 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292291462421417, + 0.047266408801078796, + -0.03668166697025299, + -3.0831758975982666, + -0.1824486404657364, + 0.2977491021156311 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the left edge of the yellow cloth and is now making contact to nudge it rightward. The gripper is open and positioned near the cloth edge, consistent with initiating a sliding motion. The next action is to apply gentle lateral force to shift the left portion of the cloth toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.324564129114151, + 0.04461194574832916, + -0.03879128769040108, + -3.1113336086273193, + -0.14461210370063782, + 0.3009217083454132 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the left edge of the yellow cloth and is now making contact to nudge it rightward. The gripper is open and positioned near the cloth edge, consistent with initiating a sliding motion. The next action is to apply gentle lateral force to shift the left portion of the cloth toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32748645544052124, + 0.04272108152508736, + -0.03410560265183449, + 3.1261484622955322, + -0.11877831071615219, + 0.2987493872642517 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "slide cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the yellow cloth and is now making contact to nudge it rightward. The gripper is open and positioned near the cloth edge, consistent with initiating a sliding motion. The next action is to apply gentle lateral force to shift the left portion of the cloth toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33551377058029175, + 0.044713836163282394, + -0.025638697668910027, + 3.094355821609497, + -0.10272334516048431, + 0.32444971799850464 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "slide cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the yellow cloth and is now making contact to nudge it rightward. The gripper is open and positioned near the cloth edge, consistent with initiating a sliding motion. The next action is to apply gentle lateral force to shift the left portion of the cloth toward the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3551848530769348, + 0.052788276225328445, + -0.007921949028968811, + 3.073011875152588, + -0.11406530439853668, + 0.36785462498664856 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "slide cloth rightward", + "subtask_reasoning": "The robot is in contact with the left edge of the yellow cloth, having completed the initial nudge. The gripper remains open as it slides the cloth rightward across the table surface. The next action is to continue this sliding motion to reposition the cloth further to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, open gripper; then move right 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767683207988739, + 0.06755098700523376, + 0.007501399144530296, + 3.081982374191284, + -0.13215132057666779, + 0.3997248709201813 + ], + "gripper_value": 0.4652916491031647 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bottle": [ + 149, + 390, + 301, + 528 + ], + "yellow cloth": [ + 281, + 410, + 888, + 994 + ], + "table": [ + 4, + 249, + 995, + 994 + ], + "wooden shelf": [ + 356, + 6, + 996, + 358 + ] + } + } + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "slide cloth rightward", + "subtask_reasoning": "The robot is in contact with the left edge of the yellow cloth, having completed the initial nudge. The gripper remains open as it slides the cloth rightward across the table surface. The next action is to continue this sliding motion to reposition the cloth further to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, open gripper; then move right 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3906862437725067, + 0.08105096220970154, + 0.007850018329918385, + 3.1364314556121826, + -0.1532377004623413, + 0.41391831636428833 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "slide cloth rightward", + "subtask_reasoning": "The robot is in contact with the left edge of the yellow cloth, having completed the initial nudge. The gripper remains open as it slides the cloth rightward across the table surface. The next action is to continue this sliding motion to reposition the cloth further to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 1 cm, open gripper; then move right 2 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4042429029941559, + 0.09787557274103165, + -0.010240551084280014, + -3.057826280593872, + -0.15838833153247833, + 0.41416120529174805 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "retract and prepare for fold", + "subtask_reasoning": "The robot is in contact with the left edge of the yellow cloth, having completed the initial nudge. The gripper remains open as it slides the cloth rightward across the table surface. The next action is to continue this sliding motion to reposition the cloth further to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 1 cm, open gripper; then move right 2 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.41279423236846924, + 0.11039428412914276, + -0.01105070672929287, + -3.0224971771240234, + -0.19307416677474976, + 0.40410691499710083 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "retract and prepare for fold", + "subtask_reasoning": "The robot is in contact with the left edge of the yellow cloth, having completed the initial nudge. The gripper remains open as it slides the cloth rightward across the table surface. The next action is to continue this sliding motion to reposition the cloth further to the right." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 1 cm, open gripper; then move right 2 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4110780358314514, + 0.135333850979805, + -0.009885691106319427, + -3.014397382736206, + -0.22408971190452576, + 0.41939637064933777 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "retract and prepare for fold", + "subtask_reasoning": "The robot has nudged the left edge of the yellow cloth rightward and is now retracting slightly to prepare for the fold. The gripper remains open with no grasp evidence, consistent with the current subtask. The next likely action is to reposition for grasping the cloth corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, open gripper; then move right 2 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4018617272377014, + 0.15833953022956848, + -0.01381952129304409, + -3.0228700637817383, + -0.22593651711940765, + 0.42657530307769775 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 282, + 409, + 888, + 993 + ], + "table": [ + 4, + 273, + 995, + 995 + ], + "white bottle": [ + 148, + 394, + 289, + 528 + ], + "wooden shelf": [ + 307, + 6, + 996, + 357 + ] + } + } + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "retract and prepare for fold", + "subtask_reasoning": "The robot has nudged the left edge of the yellow cloth rightward and is now retracting slightly to prepare for the fold. The gripper remains open with no grasp evidence, consistent with the current subtask. The next likely action is to reposition for grasping the cloth corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then move right 2 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39769089221954346, + 0.1721067726612091, + -0.01353717502206564, + -3.0105483531951904, + -0.2272150069475174, + 0.3966952860355377 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "retract and prepare for fold", + "subtask_reasoning": "The robot has nudged the left edge of the yellow cloth rightward and is now retracting slightly to prepare for the fold. The gripper remains open with no grasp evidence, consistent with the current subtask. The next likely action is to reposition for grasping the cloth corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 2 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.39697951078414917, + 0.17273496091365814, + -0.02100456692278385, + -3.0040652751922607, + -0.19764336943626404, + 0.3561732769012451 + ], + "gripper_value": 0.5130034685134888 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot has nudged the left edge of the yellow cloth rightward and is now retracting slightly to prepare for the fold. The gripper remains open with no grasp evidence, consistent with the current subtask. The next likely action is to reposition for grasping the cloth corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3981022536754608, + 0.1675918698310852, + -0.022891521453857422, + -3.0442023277282715, + -0.17713342607021332, + 0.3291977345943451 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot arm is positioned above the left corner of the yellow cloth, having completed the approach and nudging phases. The gripper is currently open and hovering just above the fabric, preparing to make contact. The next immediate action is to close the gripper to grasp the cloth corner before lifting it to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3989091217517853, + 0.16411593556404114, + -0.023783082142472267, + -3.0925071239471436, + -0.17631341516971588, + 0.3209684491157532 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot arm is positioned above the left corner of the yellow cloth, having completed the approach and nudging phases. The gripper is currently open and hovering just above the fabric, preparing to make contact. The next immediate action is to close the gripper to grasp the cloth corner before lifting it to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39570826292037964, + 0.15702781081199646, + -0.023455435410141945, + -3.129042387008667, + -0.16520243883132935, + 0.30784493684768677 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth, which has been partially folded from left to right. The gripper is open, indicating no active grasp. The next action is likely to gently press or smooth the folded edge to complete the fold before retracting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39220744371414185, + 0.15412063896656036, + 0.016079124063253403, + -3.140439033508301, + -0.21952177584171295, + 0.3361869752407074 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the left side of the yellow cloth over to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth rightward" + }, + { + "id": 4, + "subtask": "retract and prepare for fold" + }, + { + "id": 5, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 6, + "subtask": "complete fold and release" + } + ], + "subtask_name": "complete fold and release", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth, which has been partially folded from left to right. The gripper is open, indicating no active grasp. The next action is likely to gently press or smooth the folded edge to complete the fold before retracting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000789_ecot.json b/cot/chunk-0000/episode_0000789_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f39c311479a43cee5f908b762a6e6762dcc70253 --- /dev/null +++ b/cot/chunk-0000/episode_0000789_ecot.json @@ -0,0 +1,1885 @@ +{ + "task_name": "episode_0000789", + "episode_json": "json/chunk-0000/episode_0000789.json", + "video_path": "videos/chunk-0000/image_0/episode_0000789.mp4", + "instruction": "Moves the tin to the bottom centre of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000789.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.00016536204202566296, + "delta_total": 0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00017, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 2 + ], + [ + 3, + 3, + 8 + ], + [ + 4, + 9, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach tin from above\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector downward and align horizontally near the tin without closing gripper.\"},\n {\"id\": 2, \"name\": \"reposition to contact side of tin\", \"start\": 3, \"end\": 8, \"planning\": \"Slide end-effector laterally and slightly forward to make gentle side contact with the tin for pushing.\"},\n {\"id\": 3, \"name\": \"push tin toward bottom center\", \"start\": 9, \"end\": 24, \"planning\": \"Maintain light contact and drag the tin diagonally across the table toward the target zone using controlled motion.\"},\n {\"id\": 4, \"name\": \"fine-tune tin position at goal\", \"start\": 25, \"end\": 29, \"planning\": \"Make small corrective nudges to settle the tin precisely at the bottom center of the table before retreating.\"}\n ],\n \"global_plan\": \"The robot approaches the tin without grasping, makes side contact, pushes it across the table to the bottom center, and performs final positioning adjustments — all while keeping the gripper open as confirmed by constant gripper signal.\",\n \"notes\": \"No grasp or lift occurred; all manipulation was via contact-based pushing/sliding. Gripper remained fully open throughout (value ~1.0), consistent with segment-level evidence. Subtasks reflect observed motion phases: approach, contact initiation, sustained push, and fine adjustment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach tin from above", + "start": 0, + "end": 2, + "planning": "Move end-effector downward and align horizontally near the tin without closing gripper." + }, + { + "id": 2, + "name": "reposition to contact side of tin", + "start": 3, + "end": 8, + "planning": "Slide end-effector laterally and slightly forward to make gentle side contact with the tin for pushing." + }, + { + "id": 3, + "name": "push tin toward bottom center", + "start": 9, + "end": 24, + "planning": "Maintain light contact and drag the tin diagonally across the table toward the target zone using controlled motion." + }, + { + "id": 4, + "name": "fine-tune tin position at goal", + "start": 25, + "end": 29, + "planning": "Make small corrective nudges to settle the tin precisely at the bottom center of the table before retreating." + } + ], + "global_plan": "The robot approaches the tin without grasping, makes side contact, pushes it across the table to the bottom center, and performs final positioning adjustments — all while keeping the gripper open as confirmed by constant gripper signal.", + "notes": "No grasp or lift occurred; all manipulation was via contact-based pushing/sliding. Gripper remained fully open throughout (value ~1.0), consistent with segment-level evidence. Subtasks reflect observed motion phases: approach, contact initiation, sustained push, and fine adjustment." + } + }, + "episode_goal": "Move the tin to the bottom centre of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30091091990470886, + 0.15764452517032623, + 0.11226087808609009, + 3.12949800491333, + -0.18149103224277496, + 0.25445058941841125 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the tin from above. No contact has been made yet, and the tin remains stationary. The next action is to continue moving downward and forward to make initial contact with the tin for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 10 cm, move right 13 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3001881539821625, + 0.1568962037563324, + 0.10225249826908112, + 3.1220788955688477, + -0.1527383178472519, + 0.26277419924736023 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot is positioned above the table with the tin visible in the center. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the tin to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 10 cm, move right 13 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29760000109672546, + 0.15947994589805603, + 0.10103669762611389, + -3.133338689804077, + -0.1374506950378418, + 0.3133924901485443 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "approach tin from above", + "subtask_reasoning": "The robot is positioned above the table with the tin visible in the center. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the tin to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 10 cm, move right 13 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29759249091148376, + 0.1523200422525406, + 0.10219769179821014, + 3.1051926612854004, + -0.11958318203687668, + 0.3221375644207001 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "reposition to contact side of tin", + "subtask_reasoning": "The robot is positioned above the table with the tin visible in the center. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the tin to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 13 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045114576816559, + 0.14252452552318573, + 0.10727813094854355, + 3.0677008628845215, + -0.12475573271512985, + 0.3178372085094452 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "reposition to contact side of tin", + "subtask_reasoning": "The robot is positioned above the table with the tin visible in the center. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector toward the tin to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 12 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32254403829574585, + 0.12003961205482483, + 0.12032420933246613, + 3.0333263874053955, + -0.15170252323150635, + 0.2686924338340759 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "reposition to contact side of tin", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409062325954437, + 0.09852585196495056, + 0.12432003766298294, + 3.037039041519165, + -0.19491375982761383, + 0.2237829715013504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "reposition to contact side of tin", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3600347340106964, + 0.06843874603509903, + 0.1204383447766304, + 3.0670270919799805, + -0.21843081712722778, + 0.1670805960893631 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "reposition to contact side of tin", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3798300325870514, + 0.037205275148153305, + 0.11494211107492447, + 3.1088521480560303, + -0.22916452586650848, + 0.10415387153625488 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy sushi": [ + 187, + 303, + 295, + 446 + ], + "table": [ + 7, + 104, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "reposition to contact side of tin", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open; then move right 1 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.397848904132843, + 0.022657988592982292, + 0.10915570706129074, + -3.1409201622009277, + -0.22412008047103882, + 0.08685855567455292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.420377254486084, + 0.008648618124425411, + 0.10093989968299866, + -3.12355375289917, + -0.21022163331508636, + 0.06737936288118362 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy sushi": [ + 187, + 303, + 295, + 446 + ], + "table": [ + 6, + 105, + 995, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.43443724513053894, + 0.001540749566629529, + 0.09017796814441681, + -3.1161670684814453, + -0.18284592032432556, + 0.04332037642598152 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.43639084696769714, + -0.0037962268106639385, + 0.06821395456790924, + -3.1012659072875977, + -0.1288052499294281, + 0.0011819954961538315 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.43561795353889465, + -0.011795847676694393, + 0.06420326232910156, + -3.0950770378112793, + -0.11762090027332306, + -0.03291666880249977 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4307270646095276, + -0.010970084927976131, + 0.055633794516325, + -3.0896921157836914, + -0.10021369159221649, + -0.046435460448265076 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.42516714334487915, + -0.006638145539909601, + 0.049386825412511826, + -3.10042667388916, + -0.07975978404283524, + -0.040095195174217224 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot has approached the tin from above and is now repositioning laterally to make side contact. The gripper remains open with no closing evidence, confirming no grasp is occurring. The next action is to move the end-effector horizontally toward the tin’s side to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41806215047836304, + 0.006601628847420216, + 0.041505929082632065, + -3.095343589782715, + -0.05835159122943878, + -0.011067306622862816 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move up 2 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41131311655044556, + 0.00865208264440298, + 0.04932820424437523, + -3.1010992527008057, + -0.06521791219711304, + -0.021836599335074425 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.39552292227745056, + 0.010526999831199646, + 0.05231932923197746, + -3.099743604660034, + -0.05711797624826431, + -0.027957888320088387 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38129138946533203, + 0.010698557831346989, + 0.05550004541873932, + -3.097256660461426, + -0.06152752414345741, + -0.03219069167971611 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669430911540985, + 0.012351169250905514, + 0.04965844005346298, + -3.08258318901062, + -0.04882543534040451, + -0.03844251483678818 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543652892112732, + 0.014518813230097294, + 0.05099392309784889, + -3.067214012145996, + -0.05406329035758972, + -0.05008017271757126 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34166523814201355, + 0.01643027365207672, + 0.048308115452528, + -3.0546560287475586, + -0.046102531254291534, + -0.05354485660791397 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3297808766365051, + 0.022092478349804878, + 0.060202859342098236, + -3.013328790664673, + -0.06780260056257248, + -0.05618453770875931 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 6, + 103, + 994, + 993 + ], + "toy sushi": [ + 187, + 302, + 297, + 448 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214268386363983, + 0.020302971825003624, + 0.06097309663891792, + -3.02756404876709, + -0.06265836209058762, + -0.05763249844312668 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "push tin toward bottom center", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167558014392853, + 0.020835237577557564, + 0.06146852299571037, + -3.02376127243042, + -0.058961670845746994, + -0.06345812231302261 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "fine-tune tin position at goal", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3201032280921936, + 0.024826545268297195, + 0.0702255442738533, + -3.0417516231536865, + -0.0714506283402443, + -0.037995561957359314 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "fine-tune tin position at goal", + "subtask_reasoning": "The robot is in contact with the side of the tin, having completed the approach and repositioning phases. The gripper remains open with no closing evidence, confirming a pushing action rather than grasping. The next step is to continue applying lateral force to slide the tin toward the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3285488784313202, + 0.02906031720340252, + 0.09110347181558609, + -3.061513900756836, + -0.11920341104269028, + -0.0138515904545784 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "fine-tune tin position at goal", + "subtask_reasoning": "The robot is positioned above the tin with the gripper open, having completed the approach and side-contact phases. The current subtask involves fine-tuning the tin's position at the goal location through small adjustments. The next action is likely a minor push or nudge to center the tin precisely at the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.332821249961853, + 0.03737547621130943, + 0.11723977327346802, + -3.090132713317871, + -0.18136635422706604, + 0.022732680663466454 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "fine-tune tin position at goal", + "subtask_reasoning": "The robot is positioned above the tin with the gripper open, having completed the approach and side-contact phases. The current subtask involves fine-tuning the tin's position at the goal location through small adjustments. The next action is likely a minor push or nudge to center the tin precisely at the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3338315486907959, + 0.0479181706905365, + 0.14068959653377533, + -3.1035139560699463, + -0.2415706366300583, + 0.04367487132549286 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the bottom centre of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin from above" + }, + { + "id": 2, + "subtask": "reposition to contact side of tin" + }, + { + "id": 3, + "subtask": "push tin toward bottom center" + }, + { + "id": 4, + "subtask": "fine-tune tin position at goal" + } + ], + "subtask_name": "fine-tune tin position at goal", + "subtask_reasoning": "The robot is positioned above the tin with the gripper open, having completed the approach and side-contact phases. The current subtask involves fine-tuning the tin's position at the goal location through small adjustments. The next action is likely a minor push or nudge to center the tin precisely at the bottom center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000790_ecot.json b/cot/chunk-0000/episode_0000790_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..580a36078b07ce04813818d360e99bf774bce93c --- /dev/null +++ b/cot/chunk-0000/episode_0000790_ecot.json @@ -0,0 +1,1511 @@ +{ + "task_name": "episode_0000790", + "episode_json": "json/chunk-0000/episode_0000790.json", + "video_path": "videos/chunk-0000/image_0/episode_0000790.mp4", + "instruction": "Place the yellow brush to the left of the purple towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000790.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.6678873300552368, + "std": 0.30388155579566956, + "delta_total": -0.0026040077209472656, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66789, std=0.30388, total_delta=-0.00260). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 110, + 18, + 118, + 118 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 4 + ], + [ + 3, + 5, + 9 + ], + [ + 4, + 10, + 11 + ], + [ + 5, + 12, + 17 + ], + [ + 6, + 18, + 18 + ], + [ + 7, + 19, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow brush\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the yellow brush on the stovetop without grasping yet.\"},\n {\"id\": 2, \"name\": \"grasp yellow brush\", \"start\": 5, \"end\": 9, \"planning\": \"Close the gripper to securely grasp the yellow brush, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition brush\", \"start\": 10, \"end\": 11, \"planning\": \"Lift the grasped yellow brush slightly and begin moving it leftward across the stovetop surface.\"},\n {\"id\": 4, \"name\": \"place brush left of towel\", \"start\": 12, \"end\": 17, \"planning\": \"Lower the yellow brush to the target position left of the purple towel and release grip as gripper opens.\"},\n {\"id\": 5, \"name\": \"retreat from placement zone\", \"start\": 18, \"end\": 20, \"planning\": \"Withdraw the end-effector upward and away from the placed brush to complete the task.\"}\n ],\n \"global_plan\": \"Approach the yellow brush, grasp it firmly, lift and move it leftward, place it precisely to the left of the purple towel, then retreat to finish.\",\n \"notes\": \"Gripper evidence confirms meaningful closure in segments 3, 5, and 7 — allowing grasp/place terminology where images support. Segment 1 shows no gripper motion, so approach-only language is used. Full frame coverage ensured with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow brush", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the yellow brush on the stovetop without grasping yet." + }, + { + "id": 2, + "name": "grasp yellow brush", + "start": 5, + "end": 9, + "planning": "Close the gripper to securely grasp the yellow brush, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition brush", + "start": 10, + "end": 11, + "planning": "Lift the grasped yellow brush slightly and begin moving it leftward across the stovetop surface." + }, + { + "id": 4, + "name": "place brush left of towel", + "start": 12, + "end": 17, + "planning": "Lower the yellow brush to the target position left of the purple towel and release grip as gripper opens." + }, + { + "id": 5, + "name": "retreat from placement zone", + "start": 18, + "end": 20, + "planning": "Withdraw the end-effector upward and away from the placed brush to complete the task." + } + ], + "global_plan": "Approach the yellow brush, grasp it firmly, lift and move it leftward, place it precisely to the left of the purple towel, then retreat to finish.", + "notes": "Gripper evidence confirms meaningful closure in segments 3, 5, and 7 — allowing grasp/place terminology where images support. Segment 1 shows no gripper motion, so approach-only language is used. Full frame coverage ensured with contiguous ranges." + } + }, + "episode_goal": "Place the yellow brush to the left of the purple towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2815805673599243, + 0.08956658840179443, + 0.04977959766983986, + -3.114515542984009, + 0.020957134664058685, + 0.08720661699771881 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach yellow brush", + "subtask_reasoning": "The robot is positioned above the stove with the yellow brush visible on the lower left. No objects have been moved yet. The arm needs to move down and left to reach the yellow brush for the next step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801817059516907, + 0.08809846639633179, + 0.043302927166223526, + -3.1259117126464844, + 0.04527812451124191, + 0.08979912102222443 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach yellow brush", + "subtask_reasoning": "The robot is positioned above the stove with the yellow brush visible on the lower left. No objects have been moved yet. The arm needs to move down and left to reach the yellow brush for the next step." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015981614589691, + 0.1072244867682457, + 0.06627051532268524, + 3.133413791656494, + 0.0186374019831419, + 0.13245978951454163 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach yellow brush", + "subtask_reasoning": "The robot is positioned above the stove with the yellow brush visible on the lower left. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 3 cm, keep gripper open; then move left 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212583661079407, + 0.1242203414440155, + 0.07493768632411957, + 3.1218483448028564, + 0.005131724290549755, + 0.16762074828147888 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 620, + 297, + 863, + 556 + ], + "metal pot": [ + 97, + 346, + 329, + 604 + ], + "green spoon": [ + 579, + 452, + 671, + 613 + ], + "sink": [ + 785, + 470, + 994, + 965 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach yellow brush", + "subtask_reasoning": "The robot is positioned above the stove with the yellow brush visible on the lower left. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 4 cm, keep gripper open; then move left 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34769901633262634, + 0.14032717049121857, + 0.06615389138460159, + 3.137932538986206, + -0.016476482152938843, + 0.17641359567642212 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach yellow brush", + "subtask_reasoning": "The robot is positioned above the stove with the yellow brush visible on the lower left. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move left 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3566173315048218, + 0.15466298162937164, + 0.03797997534275055, + -3.088879346847534, + 0.020168183371424675, + 0.19965775310993195 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp yellow brush", + "subtask_reasoning": "The robot is positioned above the stove with the yellow brush visible on the lower left. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 11 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.36210277676582336, + 0.16058140993118286, + 0.022056132555007935, + -3.056119441986084, + -0.010870042257010937, + 0.16238006949424744 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp yellow brush", + "subtask_reasoning": "The robot is positioned above the stove with the yellow brush visible on the lower left. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36469826102256775, + 0.16119936108589172, + 0.017850369215011597, + -3.0540950298309326, + -0.041209012269973755, + 0.13596461713314056 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp yellow brush", + "subtask_reasoning": "The robot has approached the yellow brush on the stovetop, with the purple towel visible to the right. The gripper is open and positioned near the brush, indicating readiness to grasp. The next action is to close the gripper to securely hold the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 13 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.363318532705307, + 0.16183947026729584, + 0.015630066394805908, + -3.046487331390381, + -0.04063912108540535, + 0.12854160368442535 + ], + "gripper_value": 0.8251956701278687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp yellow brush", + "subtask_reasoning": "The robot has approached the yellow brush on the stovetop, with the purple towel visible to the right. The gripper is open and positioned near the brush, indicating readiness to grasp. The next action is to close the gripper to securely hold the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36076831817626953, + 0.15956754982471466, + 0.012093492783606052, + -3.0537526607513428, + -0.04029005765914917, + 0.12376080453395844 + ], + "gripper_value": 0.5178548097610474 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "grasp yellow brush", + "subtask_reasoning": "The robot has approached the yellow brush on the stovetop, with the purple towel visible to the right. The gripper is open and positioned near the brush, indicating readiness to grasp. The next action is to close the gripper to securely hold the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35978591442108154, + 0.16163046658039093, + 0.012522751465439796, + -3.0737502574920654, + -0.04325665906071663, + 0.1391998827457428 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and reposition brush", + "subtask_reasoning": "The robot has approached and grasped the yellow brush, which is now in contact with the gripper. The current subtask involves lifting and repositioning the brush leftward toward the purple towel. The next action should be to lift the brush slightly and begin moving it left while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3589923679828644, + 0.17006802558898926, + 0.01954384334385395, + -3.1086437702178955, + -0.04385676607489586, + 0.17851567268371582 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and reposition brush", + "subtask_reasoning": "The robot has approached and grasped the yellow brush, which is now in contact with the gripper. The current subtask involves lifting and repositioning the brush leftward toward the purple towel. The next action should be to lift the brush slightly and begin moving it left while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper closed; then move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37018194794654846, + 0.15452530980110168, + 0.04119483381509781, + 3.0888140201568604, + -0.08728441596031189, + 0.20091161131858826 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot has approached and grasped the yellow brush, which is now in contact with the gripper. The current subtask involves lifting and repositioning the brush leftward toward the purple towel. The next action should be to lift the brush slightly and begin moving it left while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38318538665771484, + 0.11574170738458633, + 0.05968368053436279, + 3.0470025539398193, + -0.11369708180427551, + 0.21375605463981628 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 622, + 297, + 862, + 556 + ], + "metal pot": [ + 102, + 328, + 340, + 614 + ], + "sink": [ + 784, + 470, + 994, + 966 + ], + "green spoon": [ + 579, + 452, + 671, + 615 + ], + "tiled wall": [ + 395, + 1, + 997, + 427 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot has approached and grasped the yellow brush, which is now in contact with the gripper. The current subtask involves lifting and repositioning the brush leftward toward the purple towel. The next action should be to lift the brush slightly and begin moving it left while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38035234808921814, + 0.07365207374095917, + 0.044267360121011734, + 3.037959098815918, + -0.07337053120136261, + 0.14275090396404266 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple towel": [ + 623, + 296, + 863, + 556 + ], + "metal pot": [ + 103, + 353, + 348, + 610 + ], + "sink": [ + 783, + 470, + 994, + 965 + ], + "white appliance": [ + 7, + 224, + 992, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot is holding the yellow brush above the stovetop, positioned between the pot and the purple towel. The gripper is closed, indicating the brush is securely grasped. The next action is to lower the brush and release it to the left of the purple towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37360072135925293, + 0.04320114850997925, + 0.02976827509701252, + 3.068133592605591, + -0.04517130181193352, + 0.08108796924352646 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot is holding the yellow brush above the stovetop, positioned between the pot and the purple towel. The gripper is closed, indicating the brush is securely grasped. The next action is to lower the brush and release it to the left of the purple towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3721218705177307, + 0.02731514908373356, + 0.023875657469034195, + 3.1028006076812744, + -0.0450926348567009, + 0.050663113594055176 + ], + "gripper_value": 0.33882394433021545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot is holding the yellow brush above the stovetop, positioned between the pot and the purple towel. The gripper is closed, indicating the brush is securely grasped. The next action is to lower the brush and release it to the left of the purple towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37287354469299316, + 0.029303543269634247, + 0.02349819429218769, + 3.1259982585906982, + -0.051392264664173126, + 0.04596022516489029 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "place brush left of towel", + "subtask_reasoning": "The robot is holding the yellow brush above the stovetop, positioned between the pot and the purple towel. The gripper is closed, indicating the brush is securely grasped. The next action is to lower the brush and release it to the left of the purple towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36642760038375854, + 0.03352316841483116, + 0.01882343180477619, + -3.131706953048706, + -0.03037673979997635, + 0.0521337054669857 + ], + "gripper_value": 0.7190925478935242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The robot is holding the yellow brush above the stovetop, positioned between the pot and the purple towel. The gripper is closed, indicating the brush is securely grasped. The next action is to lower the brush and release it to the left of the purple towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35758984088897705, + 0.03585901856422424, + 0.03193581476807594, + 3.1368398666381836, + -0.026444684714078903, + 0.039463043212890625 + ], + "gripper_value": 0.9745318293571472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The yellow brush has been successfully placed to the left of the purple towel on the stovetop. The robot's end-effector is currently positioned above the scene with the gripper open, indicating the object has been released. The next action is to retreat the arm away from the placement zone to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35139161348342896, + 0.039044544100761414, + 0.07310763001441956, + 3.0981507301330566, + -0.07602052390575409, + 0.0329633504152298 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush to the left of the purple towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow brush" + }, + { + "id": 2, + "subtask": "grasp yellow brush" + }, + { + "id": 3, + "subtask": "lift and reposition brush" + }, + { + "id": 4, + "subtask": "place brush left of towel" + }, + { + "id": 5, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The yellow brush has been successfully placed to the left of the purple towel on the stovetop. The robot's end-effector is currently positioned above the scene with the gripper open, indicating the object has been released. The next action is to retreat the arm away from the placement zone to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000791_ecot.json b/cot/chunk-0000/episode_0000791_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4cb5c4dd1198e4e675e804955828fe8a7883b119 --- /dev/null +++ b/cot/chunk-0000/episode_0000791_ecot.json @@ -0,0 +1,2234 @@ +{ + "task_name": "episode_0000791", + "episode_json": "json/chunk-0000/episode_0000791.json", + "video_path": "videos/chunk-0000/image_0/episode_0000791.mp4", + "instruction": "Take the container and put it next to the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000791.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.3292297124862671, + "std": 0.15746580064296722, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.32923, std=0.15747, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 14 + ], + [ + 3, + 15, + 18 + ], + [ + 4, + 19, + 25 + ], + [ + 5, + 26, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach container\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from initial position toward the white container on the table.\"},\n {\"id\": 2, \"name\": \"grasp container\", \"start\": 7, \"end\": 14, \"planning\": \"Close gripper around the white container and secure hold as confirmed by gripper value drop to 0.677.\"},\n {\"id\": 3, \"name\": \"lift and reposition container\", \"start\": 15, \"end\": 18, \"planning\": \"Lift the grasped container and move it laterally toward the target location next to the silver pot.\"},\n {\"id\": 4, \"name\": \"place container beside pot\", \"start\": 19, \"end\": 25, \"planning\": \"Lower the container onto the table adjacent to the silver pot, then release grip as gripper opens to 0.743.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 26, \"end\": 31, \"planning\": \"Withdraw the end-effector upward and away from the placed container to complete the task.\"}\n ],\n \"global_plan\": \"Approach the white container, grasp it securely, lift and move it beside the silver pot, place it down with controlled release, then retreat to finish.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2, 4, and 5 — grasp/place wording is justified where images show contact and motion consistency. Segment 1 has no gripper change, so described as approach only. Full frame coverage maintained with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach container", + "start": 0, + "end": 6, + "planning": "Move the end-effector from initial position toward the white container on the table." + }, + { + "id": 2, + "name": "grasp container", + "start": 7, + "end": 14, + "planning": "Close gripper around the white container and secure hold as confirmed by gripper value drop to 0.677." + }, + { + "id": 3, + "name": "lift and reposition container", + "start": 15, + "end": 18, + "planning": "Lift the grasped container and move it laterally toward the target location next to the silver pot." + }, + { + "id": 4, + "name": "place container beside pot", + "start": 19, + "end": 25, + "planning": "Lower the container onto the table adjacent to the silver pot, then release grip as gripper opens to 0.743." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 26, + "end": 31, + "planning": "Withdraw the end-effector upward and away from the placed container to complete the task." + } + ], + "global_plan": "Approach the white container, grasp it securely, lift and move it beside the silver pot, place it down with controlled release, then retreat to finish.", + "notes": "Gripper evidence confirms meaningful closing in segments 2, 4, and 5 — grasp/place wording is justified where images show contact and motion consistency. Segment 1 has no gripper change, so described as approach only. Full frame coverage maintained with contiguous ranges." + } + }, + "episode_goal": "Place the white container next to the silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3874454200267792, + 0.06666457653045654, + 0.09449420869350433, + -2.867347478866577, + 0.021687250584363937, + -1.376367211341858 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is positioned above the table with the white container and silver pot visible; no objects have been moved yet. The gripper is open and the robot is beginning to approach the white container. The next action is to continue moving the end-effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 2 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3857128918170929, + 0.06601471453905106, + 0.07979824393987656, + -2.9102301597595215, + 0.018748097121715546, + -1.3684418201446533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is positioned above the table with the white container and silver pot visible; no objects have been moved yet. The gripper is open and the robot is beginning to approach the white container. The next action is to continue moving the end-effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4030306041240692, + 0.06196971237659454, + 0.06938520073890686, + -2.934800148010254, + 0.00333993649110198, + -1.3375130891799927 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is positioned above the table with the white container and silver pot visible; no objects have been moved yet. The gripper is open and the robot is beginning to approach the white container. The next action is to continue moving the end-effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 4 cm, keep gripper open; then move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4294300973415375, + 0.055532872676849365, + 0.06076689809560776, + -2.946782112121582, + 0.0023548919707536697, + -1.295770525932312 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is approaching the white container on the table, with the silver pot visible nearby. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 3 cm, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.45058000087738037, + 0.05519716441631317, + 0.04935389384627342, + -2.96127986907959, + -0.0049964324571192265, + -1.2725476026535034 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is approaching the white container on the table, with the silver pot visible nearby. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4673596918582916, + 0.05401608720421791, + 0.04416963458061218, + -2.965176820755005, + -0.0039961873553693295, + -1.2612775564193726 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 348, + 277, + 589, + 510 + ], + "yellow rubber duck": [ + 220, + 459, + 384, + 625 + ], + "metal pot": [ + 450, + 578, + 901, + 922 + ], + "wooden table": [ + 10, + 144, + 996, + 995 + ], + "white block": [ + 511, + 207, + 652, + 315 + ] + } + } + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is approaching the white container on the table, with the silver pot visible nearby. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.478953093290329, + 0.05116268992424011, + 0.03639782965183258, + -2.976219654083252, + -0.005115386098623276, + -1.2621971368789673 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach container", + "subtask_reasoning": "The robot is approaching the white container on the table, with the silver pot visible nearby. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 5 cm, close gripper; then move back 3 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4849317669868469, + 0.04923033341765404, + 0.026353968307375908, + -2.9875452518463135, + 0.0005339741474017501, + -1.268354058265686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot is approaching the white container on the table, with the silver pot visible nearby. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 5 cm, close gripper; then move back 7 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4861610233783722, + 0.04661741107702255, + 0.011066506616771221, + -3.02168607711792, + 0.010009748861193657, + -1.2770918607711792 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot is approaching the white container on the table, with the silver pot visible nearby. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed; then move back 11 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.48432448506355286, + 0.04800404608249664, + 0.002939020050689578, + -3.0348825454711914, + 0.027074599638581276, + -1.2734198570251465 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot is approaching the white container on the table, with the silver pot visible nearby. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should continue moving the end effector closer to the container for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4841454327106476, + 0.04524797946214676, + -0.00044531229650601745, + -3.021193504333496, + 0.049270953983068466, + -1.280369520187378 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot has approached the white container and is currently positioned above it with the gripper open. The gripper signal indicates a closing motion is underway within this segment. The next action is to complete the grasp by closing the gripper around the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.48381832242012024, + 0.04556818678975105, + -0.00036235328298062086, + -3.0163915157318115, + 0.055069539695978165, + -1.2797826528549194 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot has approached the white container and is currently positioned above it with the gripper open. The gripper signal indicates a closing motion is underway within this segment. The next action is to complete the grasp by closing the gripper around the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4831655025482178, + 0.04551577940583229, + 0.0008542686118744314, + -3.0065832138061523, + 0.0626693069934845, + -1.2835698127746582 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot has approached the white container and is currently positioned above it with the gripper open. The gripper signal indicates a closing motion is underway within this segment. The next action is to complete the grasp by closing the gripper around the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4824335277080536, + 0.04114610701799393, + 0.004468484316021204, + -3.009122133255005, + 0.0398203507065773, + -1.2844712734222412 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot has approached the white container and is currently positioned above it with the gripper open. The gripper signal indicates a closing motion is underway within this segment. The next action is to complete the grasp by closing the gripper around the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 13 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.47978800535202026, + 0.028842169791460037, + 0.041335221379995346, + -2.9579086303710938, + -0.002017173683270812, + -1.3036423921585083 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 348, + 276, + 589, + 509 + ], + "wooden table": [ + 53, + 146, + 996, + 995 + ], + "metal pot": [ + 450, + 578, + 901, + 922 + ], + "yellow rubber duck": [ + 221, + 461, + 383, + 624 + ] + } + } + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp container", + "subtask_reasoning": "The robot has approached the white container and is currently positioned above it with the gripper open. The gripper signal indicates a closing motion is underway within this segment. The next action is to complete the grasp by closing the gripper around the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, keep gripper closed; then move back 13 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4605060815811157, + 0.024523379281163216, + 0.07154632359743118, + -2.9197170734405518, + -0.013346024788916111, + -1.314184546470642 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition container", + "subtask_reasoning": "The robot has approached the white container and is currently positioned above it with the gripper open. The gripper signal indicates a closing motion is underway within this segment. The next action is to complete the grasp by closing the gripper around the container." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 8 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.42960160970687866, + 0.017803199589252472, + 0.09636419266462326, + -2.8945858478546143, + -0.048207446932792664, + -1.3405487537384033 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition container", + "subtask_reasoning": "The robot has approached and grasped the white container, now lifting it above the table. The gripper remains closed with no significant motion change, indicating stable hold during repositioning. Next, the robot should move the container laterally toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 8 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3939276337623596, + 0.018739493563771248, + 0.10321497172117233, + -2.8865513801574707, + -0.04862145707011223, + -1.3791292905807495 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition container", + "subtask_reasoning": "The robot has approached and grasped the white container, now lifting it above the table. The gripper remains closed with no significant motion change, indicating stable hold during repositioning. Next, the robot should move the container laterally toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 8 cm, open gripper; then move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543531894683838, + 0.01581323705613613, + 0.09506530314683914, + -2.8973381519317627, + -0.04127616807818413, + -1.423596978187561 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition container", + "subtask_reasoning": "The robot has approached and grasped the white container, now lifting it above the table. The gripper remains closed with no significant motion change, indicating stable hold during repositioning. Next, the robot should move the container laterally toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 8 cm, open gripper; then move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3260744512081146, + 0.012148692272603512, + 0.07261645793914795, + -2.936448335647583, + -0.013290179893374443, + -1.4798450469970703 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 348, + 314, + 590, + 510 + ], + "yellow rubber duck": [ + 218, + 455, + 384, + 625 + ], + "wooden table": [ + 4, + 144, + 995, + 995 + ], + "metal pot": [ + 451, + 577, + 902, + 922 + ], + "wooden cabinet": [ + 286, + 1, + 997, + 376 + ], + "blue sofa": [ + 2, + 3, + 362, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place container beside pot", + "subtask_reasoning": "The robot has approached and grasped the white container, now lifting it above the table. The gripper remains closed with no significant motion change, indicating stable hold during repositioning. Next, the robot should move the container laterally toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 8 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129236400127411, + 0.01046727504581213, + 0.053791116923093796, + -2.9371986389160156, + 0.0025659939274191856, + -1.4988658428192139 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place container beside pot", + "subtask_reasoning": "The robot has approached and grasped the white container, now lifting it above the table. The gripper remains closed with no significant motion change, indicating stable hold during repositioning. Next, the robot should move the container laterally toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, open gripper; then move forward 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31504055857658386, + 0.010560321621596813, + 0.047403622418642044, + -2.9095892906188965, + 0.0009202074725180864, + -1.4960823059082031 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place container beside pot", + "subtask_reasoning": "The robot has approached and grasped the white container, now lifting it above the table. The gripper remains closed with no significant motion change, indicating stable hold during repositioning. Next, the robot should move the container laterally toward the silver pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, open gripper; then move forward 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31318846344947815, + 0.009371639229357243, + 0.026921479031443596, + -2.931453227996826, + -0.005784234963357449, + -1.4942660331726074 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place container beside pot", + "subtask_reasoning": "The robot is holding the white container above the table, positioned near the silver pot. The gripper remains closed, indicating the object is still secured. The next action is to lower the container and release it beside the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, open gripper; then move forward 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31082481145858765, + 0.0068372637033462524, + 0.0034579636994749308, + -2.976886034011841, + 0.004668719135224819, + -1.503922939300537 + ], + "gripper_value": 0.676182746887207 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place container beside pot", + "subtask_reasoning": "The robot is holding the white container above the table, positioned near the silver pot. The gripper remains closed, indicating the object is still secured. The next action is to lower the container and release it beside the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move forward 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31037622690200806, + 0.004268169868737459, + -0.0031295986846089363, + -2.9845829010009766, + 0.0018502052407711744, + -1.4986217021942139 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place container beside pot", + "subtask_reasoning": "The robot is holding the white container above the table, positioned near the silver pot. The gripper remains closed, indicating the object is still secured. The next action is to lower the container and release it beside the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31083494424819946, + 0.0037632640451192856, + -0.004369758535176516, + -2.9858238697052, + 0.018773047253489494, + -1.5012881755828857 + ], + "gripper_value": 0.742793619632721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place container beside pot", + "subtask_reasoning": "The robot is holding the white container above the table, positioned near the silver pot. The gripper remains closed, indicating the object is still secured. The next action is to lower the container and release it beside the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30941933393478394, + 0.00035547121660783887, + -0.0037622074596583843, + -2.990773916244507, + 0.07956297695636749, + -1.5055269002914429 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the white container above the table, positioned near the silver pot. The gripper remains closed, indicating the object is still secured. The next action is to lower the container and release it beside the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.316286563873291, + -0.003634100779891014, + 0.016282370314002037, + -2.9094767570495605, + 0.07750321179628372, + -1.5376616716384888 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the white container above the table, positioned near the silver pot. The gripper remains closed, indicating the object is still secured. The next action is to lower the container and release it beside the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31210988759994507, + -0.002789510181173682, + 0.02395028993487358, + -2.900567054748535, + 0.07826875150203705, + -1.538964867591858 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The white container has been successfully placed next to the silver pot. The gripper is currently open and positioned above the objects, indicating the placement is complete. The robot is now retreating from the immediate area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107434809207916, + 3.0143472031340934e-05, + 0.03267796337604523, + -2.907822847366333, + 0.09683728963136673, + -1.5277200937271118 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The white container has been successfully placed next to the silver pot. The gripper is currently open and positioned above the objects, indicating the placement is complete. The robot is now retreating from the immediate area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194013237953186, + 0.00046074436977505684, + 0.06691142916679382, + -2.874406576156616, + 0.03393959254026413, + -1.4791927337646484 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow rubber duck": [ + 224, + 463, + 382, + 624 + ], + "wooden table": [ + 4, + 146, + 995, + 995 + ], + "metal pot": [ + 453, + 580, + 901, + 922 + ], + "white block": [ + 421, + 458, + 590, + 611 + ], + "blue sofa": [ + 1, + 4, + 365, + 995 + ], + "purple cloth": [ + 347, + 284, + 595, + 508 + ] + } + } + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The white container has been successfully placed next to the silver pot. The gripper is currently open and positioned above the objects, indicating the placement is complete. The robot is now retreating from the immediate area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32740259170532227, + 0.0036982258316129446, + 0.10326512902975082, + -2.851712226867676, + -0.030729932710528374, + -1.453409194946289 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white container next to the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach container" + }, + { + "id": 2, + "subtask": "grasp container" + }, + { + "id": 3, + "subtask": "lift and reposition container" + }, + { + "id": 4, + "subtask": "place container beside pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The white container has been successfully placed next to the silver pot. The gripper is currently open and positioned above the objects, indicating the placement is complete. The robot is now retreating from the immediate area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000793_ecot.json b/cot/chunk-0000/episode_0000793_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a3d3b409cb2deb3225e05a8b99dd23ec6129669c --- /dev/null +++ b/cot/chunk-0000/episode_0000793_ecot.json @@ -0,0 +1,2707 @@ +{ + "task_name": "episode_0000793", + "episode_json": "json/chunk-0000/episode_0000793.json", + "video_path": "videos/chunk-0000/image_0/episode_0000793.mp4", + "instruction": "Close the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000793.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.7321845889091492, + "std": 0.32091015577316284, + "delta_total": -0.07836657762527466, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73218, std=0.32091, total_delta=-0.07837). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 13, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 16, + 24, + 24, + 24, + 24, + 24, + 24, + 224, + 224, + 224, + 224, + 224, + 224, + 224, + 224, + 224, + 239, + 239 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 3 + ], + [ + 3, + 4, + 12 + ], + [ + 4, + 13, + 14 + ], + [ + 5, + 15, + 15 + ], + [ + 6, + 16, + 23 + ], + [ + 7, + 24, + 29 + ], + [ + 8, + 30, + 38 + ], + [ + 9, + 39, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector from initial position toward the silver lid on the yellow mat, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 13, \"end\": 15, \"planning\": \"Close gripper around the lid’s handle as evidenced by significant gripper closure and visual contact in frames 13–15.\"},\n {\"id\": 3, \"name\": \"lift and reposition lid\", \"start\": 16, \"end\": 29, \"planning\": \"Lift the lid slightly and move it horizontally toward the pot, maintaining grip while adjusting orientation for placement.\"},\n {\"id\": 4, \"name\": \"place lid on pot\", \"start\": 30, \"end\": 38, \"planning\": \"Lower the lid onto the silver pot and release contact, completing the closing action with visible alignment in final frames.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 39, \"end\": 40, \"planning\": \"Open gripper and withdraw end-effector upward and away from the now-closed pot, confirming task completion.\"}\n ],\n \"global_plan\": \"Approach the lid, grasp it using confirmed gripper closure, lift and reposition it over the pot, place it securely to close the pot, then retreat.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 4 (frames 13–15), 6 (frames 16–23), and 9 (frames 39–40). Segment 1 (frames 0–1) shows no gripper motion — described as approach. Placement is inferred from downward motion and gripper opening in segment 8 (frames 30–38), consistent with releasing the lid onto the pot.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 12, + "planning": "Move the end-effector from initial position toward the silver lid on the yellow mat, preparing for contact." + }, + { + "id": 2, + "name": "grasp lid", + "start": 13, + "end": 15, + "planning": "Close gripper around the lid’s handle as evidenced by significant gripper closure and visual contact in frames 13–15." + }, + { + "id": 3, + "name": "lift and reposition lid", + "start": 16, + "end": 29, + "planning": "Lift the lid slightly and move it horizontally toward the pot, maintaining grip while adjusting orientation for placement." + }, + { + "id": 4, + "name": "place lid on pot", + "start": 30, + "end": 38, + "planning": "Lower the lid onto the silver pot and release contact, completing the closing action with visible alignment in final frames." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 39, + "end": 40, + "planning": "Open gripper and withdraw end-effector upward and away from the now-closed pot, confirming task completion." + } + ], + "global_plan": "Approach the lid, grasp it using confirmed gripper closure, lift and reposition it over the pot, place it securely to close the pot, then retreat.", + "notes": "Gripper evidence supports grasp only in segments 4 (frames 13–15), 6 (frames 16–23), and 9 (frames 39–40). Segment 1 (frames 0–1) shows no gripper motion — described as approach. Placement is inferred from downward motion and gripper opening in segment 8 (frames 30–38), consistent with releasing the lid onto the pot." + } + }, + "episode_goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27865713834762573, + 0.12824204564094543, + 0.046771399676799774, + -3.0915005207061768, + -0.03862541913986206, + -0.0007660241099074483 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the yellow cloth. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 19 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2759164273738861, + 0.12534527480602264, + 0.03781930357217789, + -3.11159348487854, + -0.01703382097184658, + -0.003871412016451359 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the yellow cloth. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527066171169281, + 0.09047512710094452, + 0.019178541377186775, + 3.018587589263916, + -0.027166975662112236, + -0.05418688431382179 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the yellow cloth. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 16 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23673570156097412, + 0.056898340582847595, + 0.024731937795877457, + 3.1070778369903564, + -0.06597483903169632, + -0.11909136921167374 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the yellow cloth. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22020332515239716, + 0.01017638947814703, + 0.030410701408982277, + -3.1370348930358887, + -0.12940363585948944, + -0.23032748699188232 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the yellow cloth. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move down 3 cm, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21214571595191956, + -0.028776200488209724, + 0.0344720296561718, + -3.079211711883545, + -0.1664663851261139, + -0.26719751954078674 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the workspace with the silver lid visible on the yellow cloth. No actions have been completed yet as the gripper is open and no contact has been made. The robot needs to move its end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 4 cm, close gripper; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21761554479599, + -0.04323383793234825, + 0.03532171621918678, + -3.0607831478118896, + -0.18745756149291992, + -0.23857203125953674 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 4 cm, close gripper; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23277005553245544, + -0.05280442163348198, + 0.028822433203458786, + -3.0633721351623535, + -0.18582119047641754, + -0.23369042575359344 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, close gripper; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2397139072418213, + -0.057050492614507675, + 0.018455196171998978, + -3.0778160095214844, + -0.1662614792585373, + -0.23642349243164062 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2482149600982666, + -0.05605214834213257, + 0.00621784757822752, + -3.101172924041748, + -0.14655178785324097, + -0.20404544472694397 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, close gripper; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25398674607276917, + -0.059227146208286285, + -0.003527187742292881, + -3.108783006668091, + -0.15179003775119781, + -0.20866242051124573 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26601651310920715, + -0.06976418942213058, + -0.006205440033227205, + -3.1163997650146484, + -0.17134638130664825, + -0.22388872504234314 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2782425582408905, + -0.0742371529340744, + -0.0058202785439789295, + -3.121751546859741, + -0.18277446925640106, + -0.2314489483833313 + ], + "gripper_value": 0.7447580099105835 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, move up 5 cm, open gripper; then move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755802869796753, + -0.07370105385780334, + -0.0035009412094950676, + -3.117225170135498, + -0.14668937027454376, + -0.26073157787323 + ], + "gripper_value": 0.4568776488304138 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned above the silver lid resting on the yellow cloth, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the lid is nearly complete. The next action should be to lower the gripper slightly to make contact with the lid for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, open gripper; then move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2677305340766907, + -0.07154879719018936, + 0.017147310078144073, + -3.137240171432495, + -0.11814511567354202, + -0.2606579661369324 + ], + "gripper_value": 0.2802911400794983 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26747363805770874, + -0.06466535478830338, + 0.04309123381972313, + 3.10073184967041, + -0.1548294723033905, + -0.24994251132011414 + ], + "gripper_value": 0.3220333158969879 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650330364704132, + -0.065723717212677, + 0.04526004567742348, + 3.09016489982605, + -0.1402796506881714, + -0.2482365071773529 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26858043670654297, + -0.06480566412210464, + 0.04776871204376221, + 3.102073907852173, + -0.14884330332279205, + -0.256666362285614 + ], + "gripper_value": 0.8362758755683899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27466994524002075, + -0.06013389676809311, + 0.048460736870765686, + 3.0918145179748535, + -0.1491595357656479, + -0.24193838238716125 + ], + "gripper_value": 0.6440550088882446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 4 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27390256524086, + -0.05869697779417038, + 0.04316874220967293, + 3.0927374362945557, + -0.13010568916797638, + -0.25425636768341064 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706594169139862, + -0.05702820047736168, + 0.03193099424242973, + 3.099154472351074, + -0.08620104193687439, + -0.2594444453716278 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 20 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630418539047241, + -0.05655136704444885, + 0.01383540965616703, + 3.112762928009033, + -0.033565424382686615, + -0.2715885043144226 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has approached the silver lid resting on the yellow cloth. The gripper is currently open and positioned directly above the lid, with segment-level evidence indicating a closing motion is underway. The next action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 20 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606826424598694, + -0.05451188236474991, + 0.0021887400653213263, + 3.1305906772613525, + -0.00404254999011755, + -0.28044793009757996 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "container": [ + 121, + 360, + 360, + 603 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 20 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 8 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2572703957557678, + -0.05836009234189987, + -0.00020981837587896734, + 3.134836435317993, + 0.008760860189795494, + -0.2846284508705139 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 20 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 8 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548036575317383, + -0.06225880607962608, + -0.0004504516255110502, + 3.1374123096466064, + 0.016634967178106308, + -0.30187520384788513 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 21 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 8 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25518035888671875, + -0.0630745217204094, + 0.004480994772166014, + 3.131856918334961, + 0.03002733737230301, + -0.3099251389503479 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 21 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 6 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2661809027194977, + -0.050448834896087646, + 0.03626449033617973, + 3.128389835357666, + -0.03653139993548393, + -0.255697101354599 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 19 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719116508960724, + -0.004117161501199007, + 0.08109614253044128, + 3.1352145671844482, + -0.1320216804742813, + -0.11239605396986008 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 15 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27232682704925537, + 0.04509018361568451, + 0.08653920143842697, + 3.1365435123443604, + -0.15438036620616913, + 0.03727784380316734 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 500, + 587, + 815, + 960 + ], + "container": [ + 121, + 357, + 359, + 605 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27463024854660034, + 0.0887196958065033, + 0.06664427369832993, + 3.1413419246673584, + -0.15038305521011353, + 0.13677243888378143 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and reposition lid", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734229862689972, + 0.14348898828029633, + 0.0540161095559597, + -3.115853786468506, + -0.1845855861902237, + 0.2128538340330124 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789093852043152, + 0.18420012295246124, + 0.03620758652687073, + -3.1199958324432373, + -0.16845981776714325, + 0.23317475616931915 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2766638398170471, + 0.2213231772184372, + 0.031660012900829315, + -3.124666690826416, + -0.16103386878967285, + 0.2857319116592407 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 501, + 587, + 815, + 962 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.274076372385025, + 0.22518298029899597, + 0.02968963049352169, + -3.121006965637207, + -0.148512601852417, + 0.2743273675441742 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has successfully grasped the silver lid from the yellow cloth, as confirmed by the gripper closure evidence. The current scene shows the gripper holding the lid just above the cloth, ready to lift. The next action is to lift the lid vertically and reposition it over the silver pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.271077424287796, + 0.2201242595911026, + 0.025489414110779762, + -3.120680809020996, + -0.13759952783584595, + 0.24346943199634552 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the silver pot. The gripper is closed, confirming the lid is secured. The next action is to lower the lid onto the pot to complete the closing task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674371004104614, + 0.20294852554798126, + 0.025924088433384895, + -3.10429048538208, + -0.13953664898872375, + 0.20015263557434082 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the silver pot. The gripper is closed, confirming the lid is secured. The next action is to lower the lid onto the pot to complete the closing task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.26638728380203247, + 0.1832129955291748, + 0.027607666328549385, + -3.0763769149780273, + -0.15259432792663574, + 0.1574697196483612 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the silver pot. The gripper is closed, confirming the lid is secured. The next action is to lower the lid onto the pot to complete the closing task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.26751890778541565, + 0.1704668551683426, + 0.02404526248574257, + -3.046797513961792, + -0.15437962114810944, + 0.12000337243080139 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the silver pot. The gripper is closed, confirming the lid is secured. The next action is to lower the lid onto the pot to complete the closing task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26532450318336487, + 0.16917118430137634, + 0.0230561550706625, + -3.0432543754577637, + -0.15160812437534332, + 0.12872590124607086 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The silver lid is currently held by the gripper and positioned directly above the silver pot. The gripper is closed, confirming the lid is secured. The next action is to lower the lid onto the pot to complete the closing task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.26250195503234863, + 0.16734305024147034, + 0.027823708951473236, + -3.0629022121429443, + -0.13552403450012207, + 0.16360913217067719 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The silver lid is already placed on the silver pot, closing it. The gripper is open and the arm is positioned above the pot, indicating completion of placement. The next action is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 39, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683495879173279, + 0.17200373113155365, + 0.06015089526772499, + -3.098518133163452, + -0.1671147644519806, + 0.17760531604290009 + ], + "gripper_value": 0.9231109023094177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the silver lid from the yellow cloth and place it on top of the silver pot to close it." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and reposition lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The silver lid is already placed on the silver pot, closing it. The gripper is open and the arm is positioned above the pot, indicating completion of placement. The next action is to retreat the arm away from the pot to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000795_ecot.json b/cot/chunk-0000/episode_0000795_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..886c08ae15fb4a924a85076934a491d5d8ede77f --- /dev/null +++ b/cot/chunk-0000/episode_0000795_ecot.json @@ -0,0 +1,1511 @@ +{ + "task_name": "episode_0000795", + "episode_json": "json/chunk-0000/episode_0000795.json", + "video_path": "videos/chunk-0000/image_0/episode_0000795.mp4", + "instruction": "Put the blue figure on the top edge of the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000795.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.0003188961709383875, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00032, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 20 + ], + [ + 3, + 21, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth edge\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the top edge of the yellow cloth while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 7, \"end\": 12, \"planning\": \"Lower and adjust orientation to gently touch the top edge of the cloth without grasping.\"},\n {\"id\": 3, \"name\": \"slide cloth upward\", \"start\": 13, \"end\": 18, \"planning\": \"Push or drag the cloth upward along the table surface using light contact from the gripper.\"},\n {\"id\": 4, \"name\": \"reposition for final alignment\", \"start\": 19, \"end\": 20, \"planning\": \"Fine-tune position by sliding cloth slightly to align its top edge under the end-effector.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 21, \"end\": 21, \"planning\": \"Lift end-effector away from cloth after achieving desired positioning at top edge.\"}\n ],\n \"global_plan\": \"The robot approaches the yellow cloth, makes gentle contact, slides it upward to position the top edge under the end-effector, fine-tunes alignment, then retreats — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes meaningfully; all actions are contact-based pushing/sliding. No lifting or placing inferred. Segment boundaries respected but merged/split for natural manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth edge", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the top edge of the yellow cloth while maintaining open gripper." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 7, + "end": 12, + "planning": "Lower and adjust orientation to gently touch the top edge of the cloth without grasping." + }, + { + "id": 3, + "name": "slide cloth upward", + "start": 13, + "end": 18, + "planning": "Push or drag the cloth upward along the table surface using light contact from the gripper." + }, + { + "id": 4, + "name": "reposition for final alignment", + "start": 19, + "end": 20, + "planning": "Fine-tune position by sliding cloth slightly to align its top edge under the end-effector." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 21, + "end": 21, + "planning": "Lift end-effector away from cloth after achieving desired positioning at top edge." + } + ], + "global_plan": "The robot approaches the yellow cloth, makes gentle contact, slides it upward to position the top edge under the end-effector, fine-tunes alignment, then retreats — all without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes meaningfully; all actions are contact-based pushing/sliding. No lifting or placing inferred. Segment boundaries respected but merged/split for natural manipulation phases." + } + }, + "episode_goal": "Place the blue figure on the top edge of the yellow cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2611159086227417, + 0.1693352609872818, + 0.13231505453586578, + -3.019740104675293, + 0.04410697892308235, + -0.2004605233669281 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having not yet made contact. The current subtask involves approaching the top edge of the cloth to prepare for sliding. The next action is to move the end-effector downward and forward to gently touch the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620236575603485, + 0.16798488795757294, + 0.12274830788373947, + -3.045513391494751, + 0.0626319870352745, + -0.20268821716308594 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having not yet made contact. The current subtask involves approaching the top edge of the cloth to prepare for sliding. The next action is to move the end-effector downward and forward to gently touch the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27120447158813477, + 0.15770497918128967, + 0.12500977516174316, + -3.0648980140686035, + 0.03919249773025513, + -0.2518206238746643 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having not yet made contact. The current subtask involves approaching the top edge of the cloth to prepare for sliding. The next action is to move the end-effector downward and forward to gently touch the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, keep gripper open; then move right 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.284708708524704, + 0.15188822150230408, + 0.1096225306391716, + -3.0996108055114746, + 0.00791984610259533, + -0.289176344871521 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 3, + 98, + 514, + 595 + ], + "wooden table": [ + 3, + 38, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having approached the target area. No contact has been made yet, and the cloth remains undisturbed on the table. The next action is to lower the end-effector to make gentle contact with the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, keep gripper open; then move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29413044452667236, + 0.14954380691051483, + 0.09923094511032104, + -3.0852277278900146, + -0.014083254151046276, + -0.3126816749572754 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having approached the target area. No contact has been made yet, and the cloth remains undisturbed on the table. The next action is to lower the end-effector to make gentle contact with the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2964513301849365, + 0.1492508053779602, + 0.07996463030576706, + -3.079773187637329, + -0.017344119027256966, + -0.31954285502433777 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having approached the target area. No contact has been made yet, and the cloth remains undisturbed on the table. The next action is to lower the end-effector to make gentle contact with the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2988007664680481, + 0.15128788352012634, + 0.0792769342660904, + -3.051823616027832, + -0.021681876853108406, + -0.31218597292900085 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having approached the target area. No contact has been made yet, and the cloth remains undisturbed on the table. The next action is to lower the end-effector to make gentle contact with the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30090850591659546, + 0.1490110605955124, + 0.07053618878126144, + -3.0364551544189453, + 0.01287251990288496, + -0.3093777000904083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having approached the target area. No contact has been made yet, and the cloth remains undisturbed on the table. The next action is to lower the end-effector to make gentle contact with the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.300705224275589, + 0.14949491620063782, + 0.07011880725622177, + -3.0320847034454346, + 0.01654459536075592, + -0.2960849404335022 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth with the gripper open, having approached the target area. No contact has been made yet, and the cloth remains undisturbed on the table. The next action is to lower the end-effector to make gentle contact with the cloth's top edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037956953048706, + 0.1496131271123886, + 0.06970608979463577, + -3.0383410453796387, + 0.007114187814295292, + -0.28897324204444885 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with its top edge, as indicated by the end-effector position and lack of gripper movement. The cloth remains undisturbed, confirming no grasp has occurred. The next step is to slide the cloth upward to align the top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30496498942375183, + 0.1455729454755783, + 0.0690493956208229, + -3.059974431991577, + -0.007529675494879484, + -0.29624566435813904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with its top edge, as indicated by the end-effector position and lack of gripper movement. The cloth remains undisturbed, confirming no grasp has occurred. The next step is to slide the cloth upward to align the top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30323660373687744, + 0.1281731128692627, + 0.06607922911643982, + -3.0952296257019043, + -0.010292213410139084, + -0.342879980802536 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with its top edge, as indicated by the end-effector position and lack of gripper movement. The cloth remains undisturbed, confirming no grasp has occurred. The next step is to slide the cloth upward to align the top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974269986152649, + 0.08932310342788696, + 0.06642031669616699, + -3.137073516845703, + -0.026843741536140442, + -0.42715802788734436 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with its top edge, as indicated by the end-effector position and lack of gripper movement. The cloth remains undisturbed, confirming no grasp has occurred. The next step is to slide the cloth upward to align the top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 1 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2939562499523163, + 0.05618954822421074, + 0.06669829785823822, + 3.12607741355896, + -0.03014763630926609, + -0.5101090669631958 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 45, + 995, + 993 + ], + "yellow cloth": [ + 41, + 134, + 607, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "slide cloth upward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with its top edge, as indicated by the end-effector position and lack of gripper movement. The cloth remains undisturbed, confirming no grasp has occurred. The next step is to slide the cloth upward to align the top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2885364890098572, + 0.026000550016760826, + 0.06662313640117645, + 3.1183180809020996, + -0.03489077463746071, + -0.5990675091743469 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "slide cloth upward", + "subtask_reasoning": "The robot has approached the yellow cloth and is now in contact with its top edge, as indicated by the end-effector position and lack of gripper movement. The cloth remains undisturbed, confirming no grasp has occurred. The next step is to slide the cloth upward to align the top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808172404766083, + -0.00046546573867090046, + 0.06759384274482727, + 3.1029837131500244, + -0.042932700365781784, + -0.6831027269363403 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "slide cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue sliding the cloth upward to position its top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749490439891815, + -0.015659430995583534, + 0.06826907396316528, + 3.096113443374634, + -0.03744158893823624, + -0.7453463077545166 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 46, + 996, + 993 + ], + "yellow cloth": [ + 168, + 222, + 775, + 741 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "slide cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue sliding the cloth upward to position its top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27346891164779663, + -0.01924801804125309, + 0.06955458223819733, + 3.091850519180298, + -0.03509126231074333, + -0.7572091221809387 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "slide cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue sliding the cloth upward to position its top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27393078804016113, + -0.02132340334355831, + 0.07404147833585739, + 3.097485065460205, + -0.012750118970870972, + -0.7723795771598816 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "slide cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, indicating a sliding motion rather than grasping. The next action is to continue sliding the cloth upward to position its top edge under the end-effector." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803891599178314, + -0.021667664870619774, + 0.09643770009279251, + 3.116767406463623, + -0.03470230475068092, + -0.776154100894928 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for final alignment", + "subtask_reasoning": "The robot end-effector is positioned above the yellow cloth with the gripper open, having already made contact and initiated repositioning. The cloth edge is partially aligned under the end-effector, but fine-tuning is needed to place the blue figure precisely on the top edge. Next, the robot should make gentle contact and slide the cloth upward for final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2834203541278839, + -0.02444494143128395, + 0.11847595870494843, + 3.1287858486175537, + -0.08076468110084534, + -0.7841203808784485 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "reposition for final alignment", + "subtask_reasoning": "The robot end-effector is positioned above the yellow cloth with the gripper open, having already made contact and initiated repositioning. The cloth edge is partially aligned under the end-effector, but fine-tuning is needed to place the blue figure precisely on the top edge. Next, the robot should make gentle contact and slide the cloth upward for final alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28140735626220703, + -0.01496314350515604, + 0.1373046338558197, + -3.12856125831604, + -0.11261656880378723, + -0.7660804986953735 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue figure on the top edge of the yellow cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth upward" + }, + { + "id": 4, + "subtask": "reposition for final alignment" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot's end-effector is positioned above the yellow cloth with the gripper fully open, indicating no grasp has occurred. The cloth appears undisturbed and the blue figure is not yet placed. The most likely next action is to retreat upward and backward to complete the subtask without interaction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000796_ecot.json b/cot/chunk-0000/episode_0000796_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2d16a062f81747f10f42bb5cddcbd06bb5bc6ed6 --- /dev/null +++ b/cot/chunk-0000/episode_0000796_ecot.json @@ -0,0 +1,2085 @@ +{ + "task_name": "episode_0000796", + "episode_json": "json/chunk-0000/episode_0000796.json", + "video_path": "videos/chunk-0000/image_0/episode_0000796.mp4", + "instruction": "Move the green cloth to the upper right side of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000796.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.0072051286697387695, + "std": 0.002532580401748419, + "delta_total": -0.0072051286697387695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.00721, std=0.00253, total_delta=-0.00721). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 0, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 2 + ], + [ + 3, + 3, + 3 + ], + [ + 4, + 4, + 5 + ], + [ + 5, + 6, + 11 + ], + [ + 6, + 12, + 15 + ], + [ + 7, + 16, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from initial position toward the green cloth on the stove, adjusting orientation for contact.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 11, \"planning\": \"Lower and align gripper to make stable contact with the green cloth without grasping, preparing for sliding motion.\"},\n {\"id\": 3, \"name\": \"slide cloth to target zone\", \"start\": 12, \"end\": 23, \"planning\": \"Drag the green cloth across the stove surface toward the upper right corner using continuous contact and controlled lateral motion.\"},\n {\"id\": 4, \"name\": \"reposition and release contact\", \"start\": 24, \"end\": 31, \"planning\": \"Fine-tune cloth position in upper right zone, then retreat end-effector while releasing contact to complete placement.\"}\n ],\n \"global_plan\": \"The robot approaches the green cloth, makes contact without grasping, slides it across the stove to the upper right, and releases after repositioning — all via contact-based manipulation since no meaningful gripper closing occurred.\",\n \"notes\": \"No segment showed meaningful gripper closing (all deltas ≤ 0.00264), so all actions are described as contact-based (approach, make contact, slide, reposition, release). No lifting or placing is inferred. Frame coverage is complete and contiguous from 0 to 31.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green cloth", + "start": 0, + "end": 5, + "planning": "Move the end-effector from initial position toward the green cloth on the stove, adjusting orientation for contact." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 11, + "planning": "Lower and align gripper to make stable contact with the green cloth without grasping, preparing for sliding motion." + }, + { + "id": 3, + "name": "slide cloth to target zone", + "start": 12, + "end": 23, + "planning": "Drag the green cloth across the stove surface toward the upper right corner using continuous contact and controlled lateral motion." + }, + { + "id": 4, + "name": "reposition and release contact", + "start": 24, + "end": 31, + "planning": "Fine-tune cloth position in upper right zone, then retreat end-effector while releasing contact to complete placement." + } + ], + "global_plan": "The robot approaches the green cloth, makes contact without grasping, slides it across the stove to the upper right, and releases after repositioning — all via contact-based manipulation since no meaningful gripper closing occurred.", + "notes": "No segment showed meaningful gripper closing (all deltas ≤ 0.00264), so all actions are described as contact-based (approach, make contact, slide, reposition, release). No lifting or placing is inferred. Frame coverage is complete and contiguous from 0 to 31." + } + }, + "episode_goal": "Move the green cloth to the upper right side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37946125864982605, + 0.016603127121925354, + 0.06602247059345245, + 3.1049890518188477, + -0.28772515058517456, + 1.0067583322525024 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37561607360839844, + 0.016195649281144142, + 0.05268467962741852, + 3.135744571685791, + -0.26583120226860046, + 1.0016086101531982 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35915419459342957, + 0.025791537016630173, + 0.035447340458631516, + -3.133103132247925, + -0.21792751550674438, + 1.057983160018921 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 3 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3423196077346802, + 0.044434890151023865, + 0.04503175988793373, + 3.1291587352752686, + -0.23849272727966309, + 1.1822683811187744 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32865747809410095, + 0.06556769460439682, + 0.04339774325489998, + -3.1262006759643555, + -0.25867924094200134, + 1.321419596672058 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3237745761871338, + 0.09368753433227539, + 0.04295904189348221, + 3.1366841793060303, + -0.2680722177028656, + 1.444318175315857 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 650, + 454, + 994, + 954 + ], + "green cloth": [ + 144, + 301, + 340, + 509 + ], + "banana": [ + 664, + 396, + 807, + 553 + ], + "stove": [ + 102, + 243, + 659, + 716 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3192893862724304, + 0.11887135356664658, + 0.041954174637794495, + 3.0889954566955566, + -0.2936837375164032, + 1.5809361934661865 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31599605083465576, + 0.14523006975650787, + 0.0423644557595253, + 3.0663108825683594, + -0.30274754762649536, + 1.6860370635986328 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the stove with the green cloth visible on the left side. No contact or movement toward the cloth has occurred yet. The next action should be to move the end effector closer to the green cloth to initiate contact-based sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3143199682235718, + 0.16591814160346985, + 0.027641981840133667, + 3.060025930404663, + -0.270380437374115, + 1.7544609308242798 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 651, + 453, + 993, + 954 + ], + "green cloth": [ + 143, + 323, + 378, + 509 + ], + "banana": [ + 664, + 397, + 808, + 553 + ], + "blue spatula": [ + 348, + 465, + 555, + 635 + ], + "stove": [ + 101, + 256, + 658, + 716 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 8 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200314939022064, + 0.17886845767498016, + 0.016231782734394073, + 3.0809292793273926, + -0.2635400891304016, + 1.7956851720809937 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move forward 9 cm, move right 10 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310266137123108, + 0.18238745629787445, + 0.0036351897288113832, + 3.08829402923584, + -0.25235921144485474, + 1.821303367614746 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper open; then move forward 8 cm, move right 12 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3412668704986572, + 0.186071515083313, + -0.009948871098458767, + 3.124781370162964, + -0.2526489794254303, + 1.8376967906951904 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 8 cm, move right 15 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3522912859916687, + 0.18681956827640533, + -0.017100520431995392, + -3.1228647232055664, + -0.2599954605102539, + 1.8385944366455078 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 17 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35963812470436096, + 0.18808577954769135, + -0.024753469973802567, + -3.0926294326782227, + -0.2625408172607422, + 1.8370656967163086 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 19 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36919641494750977, + 0.19014191627502441, + -0.025835180655121803, + -3.1074726581573486, + -0.25761911273002625, + 1.8389768600463867 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 21 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38159963488578796, + 0.18340064585208893, + -0.026986144483089447, + -3.1280109882354736, + -0.2438478320837021, + 1.8276591300964355 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 21 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40004801750183105, + 0.17024953663349152, + -0.028106464073061943, + 3.1350133419036865, + -0.2275949865579605, + 1.7931206226348877 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot has approached the green cloth on the stove and is now making contact with it. No grasping has occurred, as confirmed by gripper evidence. The next action is to begin sliding the cloth toward the upper right side of the stove using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 19 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.42071333527565, + 0.14571836590766907, + -0.028235819190740585, + 3.126150131225586, + -0.19903212785720825, + 1.7359756231307983 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 17 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.43404367566108704, + 0.11983132362365723, + -0.031394559890031815, + 3.1157357692718506, + -0.18123695254325867, + 1.6787679195404053 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 649, + 454, + 993, + 953 + ], + "blue spatula": [ + 413, + 519, + 553, + 633 + ], + "green cloth": [ + 256, + 245, + 481, + 436 + ], + "stove": [ + 102, + 246, + 658, + 716 + ], + "banana": [ + 663, + 396, + 807, + 555 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.43896496295928955, + 0.08942832052707672, + -0.03381362929940224, + 3.1228551864624023, + -0.16841799020767212, + 1.606864333152771 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.436579167842865, + 0.06658712029457092, + -0.03537791222333908, + 3.1227047443389893, + -0.16066484153270721, + 1.5466712713241577 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4335818886756897, + 0.04089777544140816, + -0.03449728712439537, + 3.1274971961975098, + -0.1433383971452713, + 1.4985408782958984 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4259369671344757, + 0.017193833366036415, + -0.033913858234882355, + 3.126295804977417, + -0.12779885530471802, + 1.4519131183624268 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4217083752155304, + -0.004109486006200314, + -0.03412947058677673, + 3.133052110671997, + -0.1190304160118103, + 1.3955340385437012 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.41661420464515686, + -0.02413155324757099, + -0.03309749439358711, + 3.1340272426605225, + -0.10800684243440628, + 1.3505040407180786 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 650, + 454, + 993, + 953 + ], + "green cloth": [ + 447, + 314, + 683, + 536 + ], + "banana": [ + 665, + 396, + 806, + 554 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.41008928418159485, + -0.036120157688856125, + -0.033169616013765335, + 3.1405985355377197, + -0.10784584283828735, + 1.3001691102981567 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4065617024898529, + -0.03159891441464424, + -0.02862219512462616, + 3.140996217727661, + -0.1374908983707428, + 1.307624101638794 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove surface, having completed the approach and initial contact. The cloth remains near the center-left of the stove, and the next action is to slide it toward the upper right target zone using continued contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.40919890999794006, + -0.028515968471765518, + -0.014729122631251812, + 3.1156463623046875, + -0.16224677860736847, + 1.3203418254852295 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove, having already approached and initiated sliding. The cloth is partially repositioned toward the upper right, and the next action is to continue sliding it further into the target zone before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.41143733263015747, + -0.03159235045313835, + 0.0035719883162528276, + 3.090327024459839, + -0.1959250420331955, + 1.3119900226593018 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove, having already approached and initiated sliding. The cloth is partially repositioned toward the upper right, and the next action is to continue sliding it further into the target zone before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.40622857213020325, + -0.035285189747810364, + 0.02753739058971405, + 3.074214458465576, + -0.2529563903808594, + 1.2959644794464111 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove, having already approached and initiated sliding. The cloth is partially repositioned toward the upper right, and the next action is to continue sliding it further into the target zone before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39904284477233887, + -0.03703658655285835, + 0.06019841507077217, + 3.0636847019195557, + -0.3165574073791504, + 1.2884447574615479 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove, having already approached and initiated sliding. The cloth is partially repositioned toward the upper right, and the next action is to continue sliding it further into the target zone before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3910978436470032, + -0.03522864729166031, + 0.07915664464235306, + 3.0416340827941895, + -0.32314303517341614, + 1.2888087034225464 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the upper right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + }, + { + "id": 4, + "subtask": "reposition and release contact" + } + ], + "subtask_name": "reposition and release contact", + "subtask_reasoning": "The robot is in contact with the green cloth on the stove, having already approached and initiated sliding. The cloth is partially repositioned toward the upper right, and the next action is to continue sliding it further into the target zone before releasing contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000797_ecot.json b/cot/chunk-0000/episode_0000797_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b46ccf140efeb86e18c486e91267ba1e4946be2e --- /dev/null +++ b/cot/chunk-0000/episode_0000797_ecot.json @@ -0,0 +1,2168 @@ +{ + "task_name": "episode_0000797", + "episode_json": "json/chunk-0000/episode_0000797.json", + "video_path": "videos/chunk-0000/image_0/episode_0000797.mp4", + "instruction": "Move the silver cover in the left side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000797.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.7197226881980896, + "std": 0.3358435332775116, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71972, std=0.33584, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 210, + 210, + 210, + 210, + 10, + 210, + 310, + 310, + 310, + 410, + 410, + 410, + 410, + 410, + 410, + 425, + 425, + 425, + 425, + 425, + 425 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 6 + ], + [ + 3, + 7, + 9 + ], + [ + 4, + 10, + 13 + ], + [ + 5, + 14, + 14 + ], + [ + 6, + 15, + 15 + ], + [ + 7, + 16, + 18 + ], + [ + 8, + 19, + 24 + ], + [ + 9, + 25, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver cover\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the silver cover on the right side of the table without grasping.\"},\n {\"id\": 2, \"name\": \"grasp silver cover\", \"start\": 10, \"end\": 14, \"planning\": \"Close the gripper to securely grasp the silver cover, confirmed by meaningful gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport cover\", \"start\": 15, \"end\": 24, \"planning\": \"Lift the grasped silver cover and move it across the table toward the left side while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release silver cover\", \"start\": 25, \"end\": 28, \"planning\": \"Open the gripper to release the silver cover onto the left side of the table, as evidenced by increasing gripper value.\"},\n {\"id\": 5, \"name\": \"retreat from cover\", \"start\": 29, \"end\": 30, \"planning\": \"Withdraw the end-effector upward and away from the released silver cover to complete the task.\"}\n ],\n \"global_plan\": \"Approach the silver cover on the right, grasp it, lift and carry it to the left side of the table, release it, then retreat.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segment 1 (open gripper), meaningful closure in segment 4 (grasp), sustained hold during transport, then opening in segment 9 (release). Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver cover", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the silver cover on the right side of the table without grasping." + }, + { + "id": 2, + "name": "grasp silver cover", + "start": 10, + "end": 14, + "planning": "Close the gripper to securely grasp the silver cover, confirmed by meaningful gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport cover", + "start": 15, + "end": 24, + "planning": "Lift the grasped silver cover and move it across the table toward the left side while maintaining grip." + }, + { + "id": 4, + "name": "release silver cover", + "start": 25, + "end": 28, + "planning": "Open the gripper to release the silver cover onto the left side of the table, as evidenced by increasing gripper value." + }, + { + "id": 5, + "name": "retreat from cover", + "start": 29, + "end": 30, + "planning": "Withdraw the end-effector upward and away from the released silver cover to complete the task." + } + ], + "global_plan": "Approach the silver cover on the right, grasp it, lift and carry it to the left side of the table, release it, then retreat.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segment 1 (open gripper), meaningful closure in segment 4 (grasp), sustained hold during transport, then opening in segment 9 (release). Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the silver cover to the left side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24338458478450775, + -0.03593771904706955, + 0.09979888051748276, + -3.0981109142303467, + -0.20286984741687775, + -0.4050844609737396 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 4 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24229861795902252, + -0.03578513115644455, + 0.09412473440170288, + -3.105087995529175, + -0.18083259463310242, + -0.39923977851867676 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 4 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26459845900535583, + -0.039512183517217636, + 0.08492124080657959, + -3.1166181564331055, + -0.15809306502342224, + -0.3737971782684326 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 3 cm, move down 5 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28624361753463745, + -0.05183625593781471, + 0.07922130823135376, + -3.1183955669403076, + -0.1628962755203247, + -0.38055872917175293 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 276, + 134, + 460, + 319 + ], + "wooden table": [ + 5, + 143, + 996, + 995 + ], + "blue chair": [ + 3, + 701, + 359, + 994 + ], + "peeled banana": [ + 402, + 603, + 578, + 783 + ], + "metal grate": [ + 33, + 409, + 131, + 525 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 2 cm, move down 4 cm, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31434670090675354, + -0.05908367037773132, + 0.07450193911790848, + -3.126011848449707, + -0.1738164871931076, + -0.37547004222869873 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 1 cm, move down 4 cm, close gripper; then move back 2 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3441010117530823, + -0.06744156032800674, + 0.06788023561239243, + 3.141087770462036, + -0.18997490406036377, + -0.37571340799331665 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 3 cm, close gripper; then move back 3 cm, move left 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660418689250946, + -0.07097823172807693, + 0.06141595169901848, + 3.1402840614318848, + -0.1992775797843933, + -0.36740684509277344 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, close gripper; then move back 3 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 3 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38411471247673035, + -0.07175891846418381, + 0.048869118094444275, + -3.135255813598633, + -0.17663496732711792, + -0.3488927185535431 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 275, + 131, + 524, + 343 + ], + "peeled banana": [ + 402, + 602, + 579, + 782 + ], + "wooden table": [ + 4, + 142, + 996, + 995 + ], + "blue chair": [ + 3, + 701, + 365, + 995 + ], + "metal grate": [ + 33, + 410, + 132, + 525 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 6 cm, move left 6 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.397647887468338, + -0.07300138473510742, + 0.04051685705780983, + -3.1291096210479736, + -0.172305166721344, + -0.34690752625465393 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 3 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 10 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40311577916145325, + -0.0732329711318016, + 0.03762820363044739, + -3.1209311485290527, + -0.17389631271362305, + -0.34423398971557617 + ], + "gripper_value": 0.7398436665534973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "approach silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 13 cm, move left 12 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4046735465526581, + -0.07400308549404144, + 0.03792818635702133, + -3.1147329807281494, + -0.1837206333875656, + -0.3451205790042877 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "grasp silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 15 cm, move left 15 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3997054398059845, + -0.07798423618078232, + 0.03500957041978836, + -3.116259813308716, + -0.1746167242527008, + -0.35027173161506653 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "grasp silver cover", + "subtask_reasoning": "The robot is positioned above the table with the silver cover visible on the right side. The gripper is open and the arm is in motion, indicating the robot is currently approaching the target object. The next action is to continue moving the end-effector closer to the silver cover to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 15 cm, move left 16 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39639201760292053, + -0.07796990126371384, + 0.03588421642780304, + -3.115457057952881, + -0.1760503500699997, + -0.35494503378868103 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "grasp silver cover", + "subtask_reasoning": "The robot is positioned above the silver cover on the right side of the table, with the gripper open and ready to grasp. The gripper has closed slightly in this segment, indicating an attempt to grasp the cover. The next action is to fully close the gripper to secure the silver cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 15 cm, move left 16 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38963133096694946, + -0.07943162322044373, + 0.03675290569663048, + -3.1253349781036377, + -0.1699744611978531, + -0.3624523878097534 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "grasp silver cover", + "subtask_reasoning": "The robot is positioned above the silver cover on the right side of the table, with the gripper open and ready to grasp. The gripper has closed slightly in this segment, indicating an attempt to grasp the cover. The next action is to fully close the gripper to secure the silver cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, keep gripper closed; then move back 15 cm, move left 16 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.383131206035614, + -0.08122414350509644, + 0.04725510999560356, + 3.1413824558258057, + -0.187027245759964, + -0.3628062903881073 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "grasp silver cover", + "subtask_reasoning": "The robot is positioned above the silver cover on the right side of the table, with the gripper open and ready to grasp. The gripper has closed slightly in this segment, indicating an attempt to grasp the cover. The next action is to fully close the gripper to secure the silver cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper closed; then move back 15 cm, move left 17 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37478122115135193, + -0.06883860379457474, + 0.08356615155935287, + -3.1377484798431396, + -0.25497907400131226, + -0.333743691444397 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot is positioned above the silver cover on the right side of the table, with the gripper open and ready to grasp. The gripper has closed slightly in this segment, indicating an attempt to grasp the cover. The next action is to fully close the gripper to secure the silver cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 17 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3482644557952881, + -0.04383363574743271, + 0.10796927660703659, + -3.1244163513183594, + -0.29112982749938965, + -0.30482572317123413 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot is positioned above the silver cover on the right side of the table, with the gripper open and ready to grasp. The gripper has closed slightly in this segment, indicating an attempt to grasp the cover. The next action is to fully close the gripper to secure the silver cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 14 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31079548597335815, + -0.01225223671644926, + 0.11644882708787918, + -3.1078529357910156, + -0.2910449504852295, + -0.2695893347263336 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot is positioned above the silver cover on the right side of the table, with the gripper open and ready to grasp. The gripper has closed slightly in this segment, indicating an attempt to grasp the cover. The next action is to fully close the gripper to secure the silver cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 11 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737528681755066, + 0.020256230607628822, + 0.11318165063858032, + -3.077544689178467, + -0.27943262457847595, + -0.22430019080638885 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The robot is positioned above the silver cover on the right side of the table, with the gripper open and ready to grasp. The gripper has closed slightly in this segment, indicating an attempt to grasp the cover. The next action is to fully close the gripper to secure the silver cover." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24274767935276031, + 0.05284314230084419, + 0.10070528835058212, + -3.0337746143341064, + -0.23520004749298096, + -0.16744190454483032 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 5, + 151, + 996, + 994 + ], + "peeled banana": [ + 402, + 565, + 584, + 783 + ], + "metal grate": [ + 33, + 409, + 132, + 525 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The silver cover is currently grasped and lifted above the table, mid-transport toward the left side. The gripper remains closed with minimal variation, confirming stable hold. Next, continue moving leftward to position the cover over the target drop zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2273080199956894, + 0.07699231803417206, + 0.08642137050628662, + -2.9980971813201904, + -0.1988011747598648, + -0.1022830605506897 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The silver cover is currently grasped and lifted above the table, mid-transport toward the left side. The gripper remains closed with minimal variation, confirming stable hold. Next, continue moving leftward to position the cover over the target drop zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22036893665790558, + 0.09075823426246643, + 0.06620295345783234, + -3.0222086906433105, + -0.17363712191581726, + -0.04690401628613472 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The silver cover is currently grasped and lifted above the table, mid-transport toward the left side. The gripper remains closed with minimal variation, confirming stable hold. Next, continue moving leftward to position the cover over the target drop zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper; then move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22005480527877808, + 0.09432432055473328, + 0.04777192696928978, + -3.032496690750122, + -0.1435898393392563, + -0.053015194833278656 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The silver cover is currently grasped and lifted above the table, mid-transport toward the left side. The gripper remains closed with minimal variation, confirming stable hold. Next, continue moving leftward to position the cover over the target drop zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22294451296329498, + 0.09497550874948502, + 0.035917069762945175, + -3.045954465866089, + -0.13686753809452057, + -0.06420203298330307 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The silver cover is currently grasped and lifted above the table, mid-transport toward the left side. The gripper remains closed with minimal variation, confirming stable hold. Next, continue moving leftward to position the cover over the target drop zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22456300258636475, + 0.09644438326358795, + 0.03411104902625084, + -3.0508060455322266, + -0.13362999260425568, + -0.06884143501520157 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "lift and transport cover", + "subtask_reasoning": "The silver cover is currently grasped and lifted above the table, mid-transport toward the left side. The gripper remains closed with minimal variation, confirming stable hold. Next, continue moving leftward to position the cover over the target drop zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22118057310581207, + 0.09737780690193176, + 0.034006111323833466, + -3.0479068756103516, + -0.11160764843225479, + -0.044396769255399704 + ], + "gripper_value": 0.6259716749191284 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "release silver cover", + "subtask_reasoning": "The silver cover is currently grasped and lifted above the table, mid-transport toward the left side. The gripper remains closed with minimal variation, confirming stable hold. Next, continue moving leftward to position the cover over the target drop zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21810728311538696, + 0.09629078209400177, + 0.03393763676285744, + -3.0572073459625244, + -0.09473203867673874, + -0.02424337901175022 + ], + "gripper_value": 0.9141042232513428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "release silver cover", + "subtask_reasoning": "The robot arm is positioned over the left side of the table with the silver cover already placed on the surface. The gripper is open, indicating the release action is complete. The next step is to retreat the arm away from the released object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21921837329864502, + 0.09715331345796585, + 0.04515428841114044, + -3.0470283031463623, + -0.11407828330993652, + -0.018902454525232315 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "release silver cover", + "subtask_reasoning": "The robot arm is positioned over the left side of the table with the silver cover already placed on the surface. The gripper is open, indicating the release action is complete. The next step is to retreat the arm away from the released object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22394710779190063, + 0.09761296212673187, + 0.05974150076508522, + -3.0475003719329834, + -0.14113178849220276, + -0.004410076886415482 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "release silver cover", + "subtask_reasoning": "The robot arm is positioned over the left side of the table with the silver cover already placed on the surface. The gripper is open, indicating the release action is complete. The next step is to retreat the arm away from the released object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23123151063919067, + 0.09879623353481293, + 0.0815710499882698, + -3.0438966751098633, + -0.18623493611812592, + 0.01065260823816061 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "retreat from cover", + "subtask_reasoning": "The silver cover has been successfully moved to the left side of the table and released. The robot arm is currently positioned above the cover with the gripper open, indicating the task of moving the cover is complete. The next action is to retreat the arm away from the table to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23423489928245544, + 0.09698931872844696, + 0.10956408828496933, + -3.0346076488494873, + -0.2517526149749756, + 3.316817674203776e-05 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 276, + 133, + 526, + 345 + ], + "wooden table": [ + 4, + 140, + 996, + 995 + ], + "blue chair": [ + 3, + 701, + 368, + 995 + ], + "peeled banana": [ + 402, + 565, + 584, + 782 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver cover to the left side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver cover" + }, + { + "id": 2, + "subtask": "grasp silver cover" + }, + { + "id": 3, + "subtask": "lift and transport cover" + }, + { + "id": 4, + "subtask": "release silver cover" + }, + { + "id": 5, + "subtask": "retreat from cover" + } + ], + "subtask_name": "retreat from cover", + "subtask_reasoning": "The silver cover has been successfully moved to the left side of the table and released. The robot arm is currently positioned above the cover with the gripper open, indicating the task of moving the cover is complete. The next action is to retreat the arm away from the table to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000798_ecot.json b/cot/chunk-0000/episode_0000798_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7eecbf717adb15f33ed6daab1f38cb41f09261 --- /dev/null +++ b/cot/chunk-0000/episode_0000798_ecot.json @@ -0,0 +1,1112 @@ +{ + "task_name": "episode_0000798", + "episode_json": "json/chunk-0000/episode_0000798.json", + "video_path": "videos/chunk-0000/image_0/episode_0000798.mp4", + "instruction": "Put pan from stove to sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000798.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.9469050168991089, + "std": 0.4393962025642395, + "delta_total": -0.9469050168991089, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94691, std=0.43940, total_delta=-0.94691). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 8 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan on stove\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the pan handle on the stove while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp pan handle\", \"start\": 4, \"end\": 8, \"planning\": \"Close the gripper around the pan handle to secure a firm grasp, confirmed by decreasing gripper value and stable contact.\"},\n {\"id\": 3, \"name\": \"lift and translate pan to sink\", \"start\": 9, \"end\": 14, \"planning\": \"Lift the pan slightly and move it horizontally over the sink basin while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release pan into sink\", \"start\": 15, \"end\": 16, \"planning\": \"Open the gripper to release the pan into the sink, completing the transfer from stove to sink.\"}\n ],\n \"global_plan\": \"Approach the pan on the stove, grasp its handle, lift and carry it to the sink, then release it into the sink basin.\",\n \"notes\": \"Gripper closure is evident in Segment 1 (frames 4–8) and maintained through Segment 2 until release at frame 15–16. Motion and gripper data support grasping and lifting phases. No hallucinated actions — all phases align with observed gripper values and EE motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan on stove", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the pan handle on the stove while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp pan handle", + "start": 4, + "end": 8, + "planning": "Close the gripper around the pan handle to secure a firm grasp, confirmed by decreasing gripper value and stable contact." + }, + { + "id": 3, + "name": "lift and translate pan to sink", + "start": 9, + "end": 14, + "planning": "Lift the pan slightly and move it horizontally over the sink basin while maintaining grip." + }, + { + "id": 4, + "name": "release pan into sink", + "start": 15, + "end": 16, + "planning": "Open the gripper to release the pan into the sink, completing the transfer from stove to sink." + } + ], + "global_plan": "Approach the pan on the stove, grasp its handle, lift and carry it to the sink, then release it into the sink basin.", + "notes": "Gripper closure is evident in Segment 1 (frames 4–8) and maintained through Segment 2 until release at frame 15–16. Motion and gripper data support grasping and lifting phases. No hallucinated actions — all phases align with observed gripper values and EE motion." + } + }, + "episode_goal": "Grasp the silver pan on the blue stove and move it to the white sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2133455127477646, + 0.07354807108640671, + 0.18531952798366547, + -3.072624921798706, + -0.12386288493871689, + 0.02477976307272911 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the blue stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20898737013339996, + 0.07031182199716568, + 0.17938177287578583, + -3.051980972290039, + -0.09548812359571457, + -0.055700790137052536 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the blue stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20284762978553772, + 0.06413596868515015, + 0.18214187026023865, + -3.011005401611328, + -0.08940460532903671, + -0.23797553777694702 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the blue stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19803369045257568, + 0.058782320469617844, + 0.1753910332918167, + -3.0216047763824463, + -0.09242433309555054, + -0.3900468051433563 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "approach pan on stove", + "subtask_reasoning": "The robot is positioned near the blue stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move forward 4 cm, move right 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.1941351592540741, + 0.060049064457416534, + 0.1671224981546402, + -3.026095390319824, + -0.13649345934391022, + -0.47706419229507446 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 733, + 419, + 994, + 991 + ], + "cup": [ + 368, + 6, + 575, + 173 + ], + "pot": [ + 130, + 110, + 522, + 394 + ], + "orange": [ + 891, + 106, + 967, + 186 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned near the blue stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move forward 4 cm, move right 9 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1926496922969818, + 0.05804695934057236, + 0.1548834890127182, + -3.0319831371307373, + -0.1779574453830719, + -0.5465537905693054 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned near the blue stove with the silver pan visible on the burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move forward 4 cm, move right 11 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19318561255931854, + 0.05759069696068764, + 0.14615383744239807, + -3.0380513668060303, + -0.22552041709423065, + -0.5658068060874939 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot has approached the silver pan on the blue stove and is now positioned near its handle. The gripper is open and ready to close around the handle. The next action is to close the gripper to grasp the pan handle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 4 cm, move right 11 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1946692317724228, + 0.05862560495734215, + 0.14104540646076202, + -3.0554604530334473, + -0.2506526708602905, + -0.5499090552330017 + ], + "gripper_value": 0.8289023637771606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot has approached the silver pan on the blue stove and is now positioned near its handle. The gripper is open and ready to close around the handle. The next action is to close the gripper to grasp the pan handle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 4 cm, move right 11 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19414445757865906, + 0.05798322707414627, + 0.1376952826976776, + -3.0517356395721436, + -0.25789591670036316, + -0.5446212291717529 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot has approached the silver pan on the blue stove and is now positioned near its handle. The gripper is open and ready to close around the handle. The next action is to close the gripper to grasp the pan handle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 4 cm, move right 11 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1945006251335144, + 0.051948320120573044, + 0.1370745599269867, + -3.048910140991211, + -0.26194241642951965, + -0.5491424202919006 + ], + "gripper_value": 0.23004336655139923 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "lift and translate pan to sink", + "subtask_reasoning": "The robot has approached the silver pan on the blue stove and is now positioned near its handle. The gripper is open and ready to close around the handle. The next action is to close the gripper to grasp the pan handle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19796781241893768, + 0.04525814950466156, + 0.13786424696445465, + -3.0565295219421387, + -0.27441897988319397, + -0.5275079011917114 + ], + "gripper_value": 0.08712529391050339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "lift and translate pan to sink", + "subtask_reasoning": "The robot has approached the silver pan on the blue stove and is now positioned near its handle. The gripper is open and ready to close around the handle. The next action is to close the gripper to grasp the pan handle securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20779091119766235, + 0.03288723900914192, + 0.1426258683204651, + -3.0359020233154297, + -0.29168251156806946, + -0.542959451675415 + ], + "gripper_value": 0.0609428733587265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "lift and translate pan to sink", + "subtask_reasoning": "The robot has grasped the silver pan on the blue stove and is currently lifting it. The pan is being translated toward the white sink, with the next action likely involving positioning it over the sink basin for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22009624540805817, + 0.0203140527009964, + 0.1516195386648178, + -3.0164475440979004, + -0.2685055136680603, + -0.5507233738899231 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "lift and translate pan to sink", + "subtask_reasoning": "The robot has grasped the silver pan on the blue stove and is currently lifting it. The pan is being translated toward the white sink, with the next action likely involving positioning it over the sink basin for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22997459769248962, + -0.0027170670218765736, + 0.16443966329097748, + -2.9733030796051025, + -0.21327471733093262, + -0.5081467628479004 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "lift and translate pan to sink", + "subtask_reasoning": "The robot has grasped the silver pan on the blue stove and is currently lifting it. The pan is being translated toward the white sink, with the next action likely involving positioning it over the sink basin for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23442205786705017, + -0.035926453769207, + 0.17337919771671295, + -2.929659605026245, + -0.18444952368736267, + -0.4630509614944458 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "lift and translate pan to sink", + "subtask_reasoning": "The robot has grasped the silver pan on the blue stove and is currently lifting it. The pan is being translated toward the white sink, with the next action likely involving positioning it over the sink basin for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2352302372455597, + -0.05727595463395119, + 0.1782175600528717, + -2.9119458198547363, + -0.17796966433525085, + -0.37963396310806274 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 734, + 420, + 993, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "release pan into sink", + "subtask_reasoning": "The silver pan is currently held above the white sink basin, having been transported from the stove. The gripper remains closed with no opening signal in this segment, indicating the pan is still being supported. The next action is to lower the pan into the sink and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23644016683101654, + -0.07187142968177795, + 0.17759554088115692, + -2.909741163253784, + -0.21345092356204987, + -0.3332675099372864 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the silver pan on the blue stove and move it to the white sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan on stove" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan to sink" + }, + { + "id": 4, + "subtask": "release pan into sink" + } + ], + "subtask_name": "release pan into sink", + "subtask_reasoning": "The silver pan is currently held above the white sink basin, having been transported from the stove. The gripper remains closed with no opening signal in this segment, indicating the pan is still being supported. The next action is to lower the pan into the sink and open the gripper to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000799_ecot.json b/cot/chunk-0000/episode_0000799_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..42b8629e66435967b29c9ab696b36eeec800b22d --- /dev/null +++ b/cot/chunk-0000/episode_0000799_ecot.json @@ -0,0 +1,2316 @@ +{ + "task_name": "episode_0000799", + "episode_json": "json/chunk-0000/episode_0000799.json", + "video_path": "videos/chunk-0000/image_0/episode_0000799.mp4", + "instruction": "Move the green broccoli off the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000799.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.7344938516616821, + "std": 0.3311957120895386, + "delta_total": 0.015429019927978516, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73449, std=0.33120, total_delta=0.01543). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 219, + 219, + 219, + 219, + 219, + 219, + 19, + 19, + 19, + 19, + 19, + 19, + 31, + 31, + 31 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 18 + ], + [ + 3, + 19, + 24 + ], + [ + 4, + 25, + 30 + ], + [ + 5, + 31, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach broccoli\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the green broccoli on the cloth without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp broccoli\", \"start\": 4, \"end\": 18, \"planning\": \"Close the gripper around the broccoli and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and relocate broccoli\", \"start\": 19, \"end\": 24, \"planning\": \"Lift the grasped broccoli off the cloth and move it to a new position away from the cloth area.\"},\n {\"id\": 4, \"name\": \"release broccoli\", \"start\": 25, \"end\": 30, \"planning\": \"Open the gripper to release the broccoli onto the table surface, confirmed by increasing gripper value and object separation.\"},\n {\"id\": 5, \"name\": \"retreat from drop zone\", \"start\": 31, \"end\": 33, \"planning\": \"Withdraw the end-effector upward and away from the released broccoli to complete the task.\"}\n ],\n \"global_plan\": \"Approach the broccoli on the cloth, grasp it securely, lift and move it off the cloth, release it on the table, then retreat.\",\n \"notes\": \"Gripper evidence supports grasp in segment 2 (frames 4-18) and release in segments 4-5 (frames 25-33). Segment 1 shows no gripper action — pure approach. Segment 3 (frames 19-24) is inferred as lift/relocate based on motion continuity and task goal, though no keyframe provided; consistent with overall trajectory and gripper state holding.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach broccoli", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the green broccoli on the cloth without closing the gripper." + }, + { + "id": 2, + "name": "grasp broccoli", + "start": 4, + "end": 18, + "planning": "Close the gripper around the broccoli and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and relocate broccoli", + "start": 19, + "end": 24, + "planning": "Lift the grasped broccoli off the cloth and move it to a new position away from the cloth area." + }, + { + "id": 4, + "name": "release broccoli", + "start": 25, + "end": 30, + "planning": "Open the gripper to release the broccoli onto the table surface, confirmed by increasing gripper value and object separation." + }, + { + "id": 5, + "name": "retreat from drop zone", + "start": 31, + "end": 33, + "planning": "Withdraw the end-effector upward and away from the released broccoli to complete the task." + } + ], + "global_plan": "Approach the broccoli on the cloth, grasp it securely, lift and move it off the cloth, release it on the table, then retreat.", + "notes": "Gripper evidence supports grasp in segment 2 (frames 4-18) and release in segments 4-5 (frames 25-33). Segment 1 shows no gripper action — pure approach. Segment 3 (frames 19-24) is inferred as lift/relocate based on motion continuity and task goal, though no keyframe provided; consistent with overall trajectory and gripper state holding." + } + }, + "episode_goal": "Move the green broccoli off the cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296065628528595, + 0.17194212973117828, + 0.1161252111196518, + -3.0747532844543457, + -0.18010036647319794, + 0.28774118423461914 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 8 cm, move right 18 cm, move down 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32831719517707825, + 0.17081521451473236, + 0.10590363293886185, + -3.0833749771118164, + -0.15050560235977173, + 0.291653037071228 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 10 cm, move right 20 cm, move down 6 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3363915681838989, + 0.15172836184501648, + 0.10311050713062286, + -3.1034088134765625, + -0.13361355662345886, + 0.24709898233413696 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 10 cm, move right 21 cm, move down 6 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34827226400375366, + 0.13146387040615082, + 0.108648881316185, + -3.109231948852539, + -0.1470792293548584, + 0.19513991475105286 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "approach broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 10 cm, move right 21 cm, move down 6 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.358161598443985, + 0.09525668621063232, + 0.1310291588306427, + -3.11498761177063, + -0.20083630084991455, + 0.10218258947134018 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 20 cm, move down 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523367643356323, + 0.04629629850387573, + 0.1567762792110443, + -3.1152498722076416, + -0.26005780696868896, + -0.028354907408356667 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white appliance": [ + 281, + 1, + 676, + 204 + ], + "metal bowl": [ + 22, + 188, + 362, + 399 + ], + "green cloth": [ + 465, + 493, + 806, + 877 + ], + "wooden table": [ + 5, + 94, + 935, + 948 + ] + } + } + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 14 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3343013823032379, + -0.0019743400625884533, + 0.16217026114463806, + -3.104041814804077, + -0.2705335319042206, + -0.15445639193058014 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31572219729423523, + -0.03465795889496803, + 0.153385192155838, + -3.0603318214416504, + -0.25395798683166504, + -0.25201526284217834 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30215638875961304, + -0.052286431193351746, + 0.13308227062225342, + -3.0259628295898438, + -0.21892593801021576, + -0.2980974018573761 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 10 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933785021305084, + -0.06743824481964111, + 0.11113777756690979, + -3.040473461151123, + -0.18236170709133148, + -0.3219062089920044 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784809470176697, + -0.08849065750837326, + 0.08430168032646179, + -3.0458271503448486, + -0.1258571296930313, + -0.3471737504005432 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the green broccoli visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26253512501716614, + -0.10560260713100433, + 0.07516011595726013, + -3.050595760345459, + -0.10348671674728394, + -0.36922287940979004 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 22, + 188, + 363, + 399 + ], + "white appliance": [ + 281, + 1, + 658, + 205 + ], + "wooden table": [ + 5, + 98, + 924, + 952 + ], + "green cloth": [ + 465, + 500, + 806, + 876 + ] + } + } + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25323396921157837, + -0.11324866861104965, + 0.07062926143407822, + -3.041391372680664, + -0.09275460988283157, + -0.372965931892395 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2562282979488373, + -0.11274079233407974, + 0.07044946402311325, + -3.0339815616607666, + -0.11417272686958313, + -0.35326364636421204 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 3 cm, close gripper; then move forward 1 cm, move left 6 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2602466940879822, + -0.10487159341573715, + 0.06246750056743622, + -3.011319398880005, + -0.09842229634523392, + -0.3293484151363373 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, close gripper; then move left 11 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26523590087890625, + -0.09465758502483368, + 0.05602337792515755, + -2.9809696674346924, + -0.08911704272031784, + -0.3067895770072937 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move back 1 cm, move left 16 cm, move up 11 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2663435935974121, + -0.08993544429540634, + 0.050810039043426514, + -2.961059093475342, + -0.08506885915994644, + -0.2968410551548004 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 16 cm, move up 11 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26443904638290405, + -0.08132590353488922, + 0.03954187408089638, + -2.9526169300079346, + -0.056544940918684006, + -0.274084210395813 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 1 cm, move left 16 cm, move up 11 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 2 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647877037525177, + -0.07685365527868271, + 0.036682602018117905, + -2.971027135848999, + -0.05892306566238403, + -0.26714232563972473 + ], + "gripper_value": 0.6821943521499634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "grasp broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 16 cm, move up 11 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26496052742004395, + -0.07499165832996368, + 0.03647901862859726, + -2.967175245285034, + -0.05727000534534454, + -0.268746942281723 + ], + "gripper_value": 0.3788849711418152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "lift and relocate broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, move up 11 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632157802581787, + -0.07188025861978531, + 0.044670239090919495, + -2.952188730239868, + -0.05561069771647453, + -0.2773032784461975 + ], + "gripper_value": 0.2824830114841461 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "lift and relocate broccoli", + "subtask_reasoning": "The robot arm is positioned directly above the green broccoli on the cloth, with the gripper open and ready. The approach phase is complete, and the gripper is now closing to grasp the broccoli. The next action is to secure the broccoli by fully closing the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 16 cm, move up 11 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move down 11 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26999688148498535, + -0.06782213598489761, + 0.07905611395835876, + -2.989877939224243, + -0.14382195472717285, + -0.2520647943019867 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "lift and relocate broccoli", + "subtask_reasoning": "The robot has successfully grasped the green broccoli, which is currently held above the cloth. The gripper is closed, and the arm is in a lifted position, indicating the object has been secured. The next action is to translate the arm to move the broccoli away from the cloth and release it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 15 cm, move up 7 cm, rotate clockwise 30 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move down 11 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27883845567703247, + -0.0540933832526207, + 0.1273391842842102, + -3.0312459468841553, + -0.25849178433418274, + -0.19678373634815216 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 22, + 187, + 362, + 399 + ], + "wooden table": [ + 6, + 93, + 927, + 950 + ], + "green cloth": [ + 455, + 481, + 794, + 851 + ] + } + } + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "lift and relocate broccoli", + "subtask_reasoning": "The robot has successfully grasped the green broccoli, which is currently held above the cloth. The gripper is closed, and the arm is in a lifted position, indicating the object has been secured. The next action is to translate the arm to move the broccoli away from the cloth and release it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move down 11 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27801942825317383, + -0.012955213896930218, + 0.16184812784194946, + -3.0337142944335938, + -0.32154133915901184, + -0.07518552988767624 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "lift and relocate broccoli", + "subtask_reasoning": "The robot has successfully grasped the green broccoli, which is currently held above the cloth. The gripper is closed, and the arm is in a lifted position, indicating the object has been secured. The next action is to translate the arm to move the broccoli away from the cloth and release it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move down 11 cm, tilt forward 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.267124742269516, + 0.03997861593961716, + 0.16300101578235626, + -3.0605244636535645, + -0.2779068648815155, + 0.115794837474823 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "lift and relocate broccoli", + "subtask_reasoning": "The robot has successfully grasped the green broccoli, which is currently held above the cloth. The gripper is closed, and the arm is in a lifted position, indicating the object has been secured. The next action is to translate the arm to move the broccoli away from the cloth and release it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 7 cm, move down 11 cm, tilt forward 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2578750252723694, + 0.08437318354845047, + 0.15063349902629852, + -3.0209145545959473, + -0.21742305159568787, + 0.19568318128585815 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The robot has successfully grasped the green broccoli, which is currently held above the cloth. The gripper is closed, and the arm is in a lifted position, indicating the object has been secured. The next action is to translate the arm to move the broccoli away from the cloth and release it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 11 cm, tilt forward 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2472788542509079, + 0.11994778364896774, + 0.13250453770160675, + -3.018150568008423, + -0.15421195328235626, + 0.2902083396911621 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white appliance": [ + 282, + 1, + 679, + 204 + ], + "green cloth": [ + 456, + 480, + 793, + 852 + ], + "wooden table": [ + 4, + 86, + 933, + 951 + ] + } + } + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The robot has successfully grasped the green broccoli, which is currently held above the cloth. The gripper is closed, and the arm is in a lifted position, indicating the object has been secured. The next action is to translate the arm to move the broccoli away from the cloth and release it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 9 cm, tilt forward 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23820650577545166, + 0.14832915365695953, + 0.10864312201738358, + -3.0254502296447754, + -0.10818158835172653, + 0.32579556107521057 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The broccoli has been moved off the cloth and is now positioned above the table surface. The gripper is open, indicating the release action is complete or nearly complete. The next step is to retreat the end effector away from the released broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.23119020462036133, + 0.1537608951330185, + 0.09316080808639526, + -3.0102853775024414, + -0.08401504158973694, + 0.298862487077713 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The broccoli has been moved off the cloth and is now positioned above the table surface. The gripper is open, indicating the release action is complete or nearly complete. The next step is to retreat the end effector away from the released broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22759488224983215, + 0.15588776767253876, + 0.0689861848950386, + -3.0415215492248535, + -0.04675554484128952, + 0.28405091166496277 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The broccoli has been moved off the cloth and is now positioned above the table surface. The gripper is open, indicating the release action is complete or nearly complete. The next step is to retreat the end effector away from the released broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2306436151266098, + 0.1563343107700348, + 0.045248981565237045, + -3.079555034637451, + -0.0164780430495739, + 0.2765332758426666 + ], + "gripper_value": 0.3259891867637634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "release broccoli", + "subtask_reasoning": "The broccoli has been moved off the cloth and is now positioned above the table surface. The gripper is open, indicating the release action is complete or nearly complete. The next step is to retreat the end effector away from the released broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2288212776184082, + 0.15652327239513397, + 0.039678268134593964, + -3.088695526123047, + 0.0020279407035559416, + 0.2778953015804291 + ], + "gripper_value": 0.6219554543495178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "retreat from drop zone", + "subtask_reasoning": "The broccoli has been moved off the cloth and is now positioned above the table surface. The gripper is open, indicating the release action is complete or nearly complete. The next step is to retreat the end effector away from the released broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.22944395244121552, + 0.1551491916179657, + 0.04087599366903305, + -3.0973544120788574, + -0.0010781526798382401, + 0.2611074447631836 + ], + "gripper_value": 0.9231109023094177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "retreat from drop zone", + "subtask_reasoning": "The broccoli has been successfully moved off the cloth and placed on the table surface. The robot arm is currently positioned near the drop zone with the gripper open, indicating the release is complete. The next action is to retreat the arm away from the table area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22957435250282288, + 0.1536901295185089, + 0.07566825300455093, + -3.080284833908081, + -0.07947161793708801, + 0.2279500514268875 + ], + "gripper_value": 1.0162451267242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green broccoli off the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach broccoli" + }, + { + "id": 2, + "subtask": "grasp broccoli" + }, + { + "id": 3, + "subtask": "lift and relocate broccoli" + }, + { + "id": 4, + "subtask": "release broccoli" + }, + { + "id": 5, + "subtask": "retreat from drop zone" + } + ], + "subtask_name": "retreat from drop zone", + "subtask_reasoning": "The broccoli has been successfully moved off the cloth and placed on the table surface. The robot arm is currently positioned near the drop zone with the gripper open, indicating the release is complete. The next action is to retreat the arm away from the table area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000800_ecot.json b/cot/chunk-0000/episode_0000800_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd1e060f9646e209ae9c5c0e982734c4c4c5e83 --- /dev/null +++ b/cot/chunk-0000/episode_0000800_ecot.json @@ -0,0 +1,2390 @@ +{ + "task_name": "episode_0000800", + "episode_json": "json/chunk-0000/episode_0000800.json", + "video_path": "videos/chunk-0000/image_0/episode_0000800.mp4", + "instruction": "Moved the basket to the left side of the green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000800.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.9239280223846436, + "std": 0.4239667057991028, + "delta_total": 0.0033228397369384766, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92393, std=0.42397, total_delta=0.00332). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 108, + 108, + 108, + 108, + 108, + 208, + 208, + 208, + 208, + 208, + 208, + 8, + 8, + 8, + 8, + 8, + 24, + 24, + 24, + 24, + 24, + 24, + 24, + 24, + 24, + 24, + 24 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 23 + ], + [ + 5, + 24, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach basket\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the white basket on the right while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp basket\", \"start\": 8, \"end\": 12, \"planning\": \"Close gripper fully around basket handle and lift slightly to secure hold before transport.\"},\n {\"id\": 3, \"name\": \"transport basket left\", \"start\": 13, \"end\": 18, \"planning\": \"Carry basket horizontally across wooden surface toward left side of green cloth without dropping.\"},\n {\"id\": 4, \"name\": \"position over target\", \"start\": 19, \"end\": 23, \"planning\": \"Hover basket above left edge of green cloth and begin opening gripper to prepare release.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 24, \"end\": 34, \"planning\": \"Fully open gripper to drop basket onto target location, then retract arm upward and away from scene.\"}\n ],\n \"global_plan\": \"Grasp the white basket from its initial position on the right, carry it leftward across the wooden surface, and place it precisely on the left side of the green cloth before retreating.\",\n \"notes\": \"Gripper closure is confirmed in segments 1–2 (frames 0–12) with significant delta values and visual consistency; release is confirmed in segments 4–5 (frames 19–34) with gripper opening and final retraction. Motion phases align with observed trajectory clusters.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach basket", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the white basket on the right while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp basket", + "start": 8, + "end": 12, + "planning": "Close gripper fully around basket handle and lift slightly to secure hold before transport." + }, + { + "id": 3, + "name": "transport basket left", + "start": 13, + "end": 18, + "planning": "Carry basket horizontally across wooden surface toward left side of green cloth without dropping." + }, + { + "id": 4, + "name": "position over target", + "start": 19, + "end": 23, + "planning": "Hover basket above left edge of green cloth and begin opening gripper to prepare release." + }, + { + "id": 5, + "name": "release and retreat", + "start": 24, + "end": 34, + "planning": "Fully open gripper to drop basket onto target location, then retract arm upward and away from scene." + } + ], + "global_plan": "Grasp the white basket from its initial position on the right, carry it leftward across the wooden surface, and place it precisely on the left side of the green cloth before retreating.", + "notes": "Gripper closure is confirmed in segments 1–2 (frames 0–12) with significant delta values and visual consistency; release is confirmed in segments 4–5 (frames 19–34) with gripper opening and final retraction. Motion phases align with observed trajectory clusters." + } + }, + "episode_goal": "Move the basket to the left side of the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2277722805738449, + -0.04032811149954796, + 0.015396926552057266, + 3.1262831687927246, + -0.23195792734622955, + -0.16799096763134003 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the green cloth, with the white basket located to the right. No movement or grasping has occurred yet. The next action should be to move the arm toward the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22518284618854523, + -0.04071919992566109, + 0.010518034920096397, + 3.1239192485809326, + -0.2103809118270874, + -0.16335810720920563 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the green cloth, with the white basket located to the right. No movement or grasping has occurred yet. The next action should be to move the arm toward the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 5 cm, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23275277018547058, + -0.07215876132249832, + 0.004550437908619642, + 3.1033480167388916, + -0.21211016178131104, + -0.22531943023204803 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the green cloth, with the white basket located to the right. No movement or grasping has occurred yet. The next action should be to move the arm toward the basket to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 4 cm, close gripper; then move back 2 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24365682899951935, + -0.10053285211324692, + 0.0006736883078701794, + 3.083456516265869, + -0.21702879667282104, + -0.25781822204589844 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 599, + 659, + 993, + 995 + ], + "orange cloth": [ + 592, + 159, + 766, + 378 + ], + "washing machine": [ + 10, + 4, + 994, + 725 + ], + "green cloth": [ + 357, + 571, + 573, + 869 + ] + } + } + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the green cloth visible and the white basket located to the right. No prior actions have been completed in this subtask. The gripper is open and approaching the basket, indicating the next action should be to move closer and prepare to grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move back 3 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.254058301448822, + -0.11837536096572876, + -0.006441487465053797, + 3.071589469909668, + -0.2045336216688156, + -0.251637727022171 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the green cloth visible and the white basket located to the right. No prior actions have been completed in this subtask. The gripper is open and approaching the basket, indicating the next action should be to move closer and prepare to grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move back 3 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25424087047576904, + -0.11899802833795547, + -0.029129505157470703, + 3.0775063037872314, + -0.1449306160211563, + -0.24770110845565796 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the green cloth visible and the white basket located to the right. No prior actions have been completed in this subtask. The gripper is open and approaching the basket, indicating the next action should be to move closer and prepare to grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2523054778575897, + -0.11733686923980713, + -0.03768182918429375, + 3.0857467651367188, + -0.12581175565719604, + -0.2499922215938568 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the green cloth visible and the white basket located to the right. No prior actions have been completed in this subtask. The gripper is open and approaching the basket, indicating the next action should be to move closer and prepare to grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 14 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2526134252548218, + -0.1168689951300621, + -0.03791233152151108, + 3.087137460708618, + -0.13502952456474304, + -0.24570631980895996 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach basket", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the green cloth visible and the white basket located to the right. No prior actions have been completed in this subtask. The gripper is open and approaching the basket, indicating the next action should be to move closer and prepare to grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 3 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 16 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24745836853981018, + -0.11430463939905167, + -0.038586556911468506, + 3.093404769897461, + -0.13555993139743805, + -0.24400503933429718 + ], + "gripper_value": 0.3486233055591583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the green cloth visible and the white basket located to the right. No prior actions have been completed in this subtask. The gripper is open and approaching the basket, indicating the next action should be to move closer and prepare to grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 18 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24547594785690308, + -0.11621164530515671, + -0.03754106163978577, + 3.092287540435791, + -0.1400657743215561, + -0.25310274958610535 + ], + "gripper_value": 0.1602664440870285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the green cloth visible and the white basket located to the right. No prior actions have been completed in this subtask. The gripper is open and approaching the basket, indicating the next action should be to move closer and prepare to grasp the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 19 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24352769553661346, + -0.11677253991365433, + -0.03801845386624336, + 3.084686517715454, + -0.1329880952835083, + -0.25035691261291504 + ], + "gripper_value": 0.10996698588132858 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the white basket on the right side of the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the basket. The next action is to fully close the gripper to establish a firm grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 19 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23851239681243896, + -0.11942977458238602, + -0.025035975500941277, + 3.0832557678222656, + -0.15102329850196838, + -0.26346197724342346 + ], + "gripper_value": 0.1059318259358406 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the white basket on the right side of the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the basket. The next action is to fully close the gripper to establish a firm grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 19 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23061756789684296, + -0.10582936555147171, + 0.010501129552721977, + 3.088071346282959, + -0.2260526865720749, + -0.2455422729253769 + ], + "gripper_value": 0.09107078611850739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp basket", + "subtask_reasoning": "The robot arm is positioned above the white basket on the right side of the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the basket. The next action is to fully close the gripper to establish a firm grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 19 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22100597620010376, + -0.052350349724292755, + 0.04858332872390747, + 3.06882381439209, + -0.3221985697746277, + -0.11492806673049927 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 467, + 478, + 906, + 994 + ], + "orange cloth": [ + 542, + 159, + 764, + 414 + ], + "green cloth": [ + 356, + 594, + 521, + 831 + ] + } + } + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport basket left", + "subtask_reasoning": "The robot arm is positioned above the white basket on the right side of the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the basket. The next action is to fully close the gripper to establish a firm grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 19 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.20598973333835602, + -0.0067932275123894215, + 0.05968356132507324, + 3.07602858543396, + -0.3333505392074585, + -0.01751723326742649 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport basket left", + "subtask_reasoning": "The robot arm is positioned above the white basket on the right side of the wooden surface, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the basket. The next action is to fully close the gripper to establish a firm grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19692103564739227, + 0.041607435792684555, + 0.05368204042315483, + 3.069077968597412, + -0.31813809275627136, + 0.11408201605081558 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport basket left", + "subtask_reasoning": "The robot is currently transporting the white basket leftward across the wooden surface, having already grasped it from its initial position. The gripper remains closed with no significant change, indicating continuous holding during motion. The next action is to continue moving the basket toward the left side of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20158730447292328, + 0.0835748091340065, + 0.042125292122364044, + 3.0746774673461914, + -0.2845504581928253, + 0.1560080647468567 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport basket left", + "subtask_reasoning": "The robot is currently transporting the white basket leftward across the wooden surface, having already grasped it from its initial position. The gripper remains closed with no significant change, indicating continuous holding during motion. The next action is to continue moving the basket toward the left side of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21063056588172913, + 0.10595579445362091, + 0.032592445611953735, + 3.1103484630584717, + -0.26072460412979126, + 0.15740135312080383 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 536, + 158, + 764, + 454 + ], + "white basket": [ + 155, + 347, + 509, + 840 + ], + "green cloth": [ + 406, + 582, + 616, + 870 + ], + "wooden shelf": [ + 42, + 547, + 958, + 996 + ], + "washing machine": [ + 7, + 3, + 994, + 708 + ] + } + } + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport basket left", + "subtask_reasoning": "The robot is currently transporting the white basket leftward across the wooden surface, having already grasped it from its initial position. The gripper remains closed with no significant change, indicating continuous holding during motion. The next action is to continue moving the basket toward the left side of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2186945676803589, + 0.12562978267669678, + 0.025397319346666336, + 3.14113712310791, + -0.2473822683095932, + 0.17419461905956268 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport basket left", + "subtask_reasoning": "The robot is currently transporting the white basket leftward across the wooden surface, having already grasped it from its initial position. The gripper remains closed with no significant change, indicating continuous holding during motion. The next action is to continue moving the basket toward the left side of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 3 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22250957787036896, + 0.13355383276939392, + 0.01981279067695141, + -3.11548113822937, + -0.23355120420455933, + 0.15871328115463257 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is currently transporting the white basket leftward across the wooden surface, having already grasped it from its initial position. The gripper remains closed with no significant change, indicating continuous holding during motion. The next action is to continue moving the basket toward the left side of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 3 cm, move up 4 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22104482352733612, + 0.13633091747760773, + 0.011703838594257832, + -3.083298683166504, + -0.20548279583454132, + 0.14208605885505676 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is currently transporting the white basket leftward across the wooden surface, having already grasped it from its initial position. The gripper remains closed with no significant change, indicating continuous holding during motion. The next action is to continue moving the basket toward the left side of the green cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 5 cm, tilt left 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.22372516989707947, + 0.13424763083457947, + 0.008965822868049145, + -3.0549137592315674, + -0.19679874181747437, + 0.1050032302737236 + ], + "gripper_value": 0.0885477215051651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 5 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2253011018037796, + 0.13089491426944733, + 0.003220351180061698, + -3.0470945835113525, + -0.17976520955562592, + 0.0839555636048317 + ], + "gripper_value": 0.12264012545347214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22796893119812012, + 0.1290828138589859, + 0.0035112390760332346, + -3.046794891357422, + -0.18964600563049316, + 0.06774833798408508 + ], + "gripper_value": 0.3149794638156891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over target", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23190079629421234, + 0.12289217859506607, + 0.0036129553336650133, + -3.05025315284729, + -0.19467832148075104, + 0.03135247156023979 + ], + "gripper_value": 0.6169373393058777 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2331206053495407, + 0.11951758712530136, + 0.003359384136274457, + -3.0602476596832275, + -0.1985030621290207, + 0.007231693249195814 + ], + "gripper_value": 0.9182166457176208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23544397950172424, + 0.11124572157859802, + 0.003070540027692914, + -3.060058116912842, + -0.19714173674583435, + -0.03960450366139412 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23661401867866516, + 0.10059104114770889, + 0.011485546827316284, + -3.0074167251586914, + -0.20431502163410187, + -0.10563437640666962 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.23351627588272095, + 0.09223759174346924, + 0.02949683740735054, + -2.8598153591156006, + -0.17871509492397308, + -0.0817062184214592 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white basket above the green cloth, having completed the approach and grasp phases. The gripper signal indicates a stable hold during this segment. The next action is to lower the basket to place it on the left side of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22776155173778534, + 0.09067575633525848, + 0.044352300465106964, + -2.7665741443634033, + -0.16405639052391052, + -0.023914754390716553 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 536, + 161, + 764, + 453 + ], + "green cloth": [ + 360, + 571, + 617, + 870 + ], + "wooden shelf": [ + 45, + 515, + 959, + 996 + ], + "white basket": [ + 107, + 432, + 454, + 836 + ] + } + } + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white basket is already placed on the left side of the green cloth, and the gripper is open and slightly elevated, indicating release has occurred. The robot is now in the retreat phase, moving away from the basket to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2230261266231537, + 0.08546057343482971, + 0.052124205976724625, + -2.740691900253296, + -0.16794510185718536, + -0.009406362660229206 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white basket is already placed on the left side of the green cloth, and the gripper is open and slightly elevated, indicating release has occurred. The robot is now in the retreat phase, moving away from the basket to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 2 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2243160456418991, + 0.0716298520565033, + 0.04839370772242546, + -2.800246000289917, + -0.17440517246723175, + -0.02170530892908573 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white basket is already placed on the left side of the green cloth, and the gripper is open and slightly elevated, indicating release has occurred. The robot is now in the retreat phase, moving away from the basket to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.223819300532341, + 0.05741281807422638, + 0.039318669587373734, + -2.959383010864258, + -0.2328704446554184, + -0.06569982320070267 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white basket is already placed on the left side of the green cloth, and the gripper is open and slightly elevated, indicating release has occurred. The robot is now in the retreat phase, moving away from the basket to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22514711320400238, + 0.03843862935900688, + 0.03483477979898453, + -3.0155601501464844, + -0.2570728063583374, + -0.11989399790763855 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white basket is already placed on the left side of the green cloth, and the gripper is open and slightly elevated, indicating release has occurred. The robot is now in the retreat phase, moving away from the basket to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.22575010359287262, + 0.02866804599761963, + 0.034638624638319016, + -2.9987568855285645, + -0.25013813376426697, + -0.1565372794866562 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the basket to the left side of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach basket" + }, + { + "id": 2, + "subtask": "grasp basket" + }, + { + "id": 3, + "subtask": "transport basket left" + }, + { + "id": 4, + "subtask": "position over target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white basket is already placed on the left side of the green cloth, and the gripper is open and slightly elevated, indicating release has occurred. The robot is now in the retreat phase, moving away from the basket to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000801_ecot.json b/cot/chunk-0000/episode_0000801_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..03151587ffab313db6a8aa510da2c135b4b48b29 --- /dev/null +++ b/cot/chunk-0000/episode_0000801_ecot.json @@ -0,0 +1,2296 @@ +{ + "task_name": "episode_0000801", + "episode_json": "json/chunk-0000/episode_0000801.json", + "video_path": "videos/chunk-0000/image_0/episode_0000801.mp4", + "instruction": "Take corn out of bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000801.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.33534401655197144, + "std": 0.15095020830631256, + "delta_total": 0.0033466219902038574, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33534, std=0.15095, total_delta=0.00335). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 18 + ], + [ + 3, + 19, + 21 + ], + [ + 4, + 22, + 29 + ], + [ + 5, + 30, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sink area\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the sink region where the corn is located, without grasping.\"},\n {\"id\": 2, \"name\": \"position over corn and close gripper\", \"start\": 3, \"end\": 18, \"planning\": \"Align gripper above the corn in the bowl and begin closing to secure it, confirmed by gripper value drop at frame 18.\"},\n {\"id\": 3, \"name\": \"lift corn from bowl\", \"start\": 19, \"end\": 21, \"planning\": \"Raise the gripper vertically to extract the corn from the blue bowl while maintaining grip.\"},\n {\"id\": 4, \"name\": \"reposition corn over sink basin\", \"start\": 22, \"end\": 29, \"planning\": \"Translate the held corn laterally and lower slightly to position it over the sink basin for release.\"},\n {\"id\": 5, \"name\": \"release corn and retreat\", \"start\": 30, \"end\": 32, \"planning\": \"Open gripper to drop the corn into the sink, then move end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Approach the sink, grasp the corn from the bowl, lift it, reposition over the sink basin, and release it.\",\n \"notes\": \"Gripper closure is confirmed in segments 2, 4, and 5 via state evidence; segment 1 shows no closing so described as approach only. Motion and gripper data align with physical interaction phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sink area", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the sink region where the corn is located, without grasping." + }, + { + "id": 2, + "name": "position over corn and close gripper", + "start": 3, + "end": 18, + "planning": "Align gripper above the corn in the bowl and begin closing to secure it, confirmed by gripper value drop at frame 18." + }, + { + "id": 3, + "name": "lift corn from bowl", + "start": 19, + "end": 21, + "planning": "Raise the gripper vertically to extract the corn from the blue bowl while maintaining grip." + }, + { + "id": 4, + "name": "reposition corn over sink basin", + "start": 22, + "end": 29, + "planning": "Translate the held corn laterally and lower slightly to position it over the sink basin for release." + }, + { + "id": 5, + "name": "release corn and retreat", + "start": 30, + "end": 32, + "planning": "Open gripper to drop the corn into the sink, then move end-effector away to complete the task." + } + ], + "global_plan": "Approach the sink, grasp the corn from the bowl, lift it, reposition over the sink basin, and release it.", + "notes": "Gripper closure is confirmed in segments 2, 4, and 5 via state evidence; segment 1 shows no closing so described as approach only. Motion and gripper data align with physical interaction phases." + } + }, + "episode_goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32915306091308594, + 0.08571279793977737, + 0.07611504197120667, + -3.0130672454833984, + -0.2762405276298523, + 0.4531875550746918 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned near the sink containing a blue bowl with corn, but has not yet made contact. The gripper remains open with no closing evidence in this segment, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3264410197734833, + 0.08544974029064178, + 0.06583758443593979, + -3.002973794937134, + -0.24617840349674225, + 0.4527409076690674 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34430092573165894, + 0.07540826499462128, + 0.06611510366201401, + -2.9882500171661377, + -0.2794720530509949, + 0.3996856212615967 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 6 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36411383748054504, + 0.056591592729091644, + 0.06325142830610275, + -2.992323398590088, + -0.27251285314559937, + 0.29274481534957886 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue grapes": [ + 313, + 406, + 427, + 548 + ], + "red pepper": [ + 403, + 242, + 524, + 388 + ], + "sink": [ + 287, + 161, + 847, + 585 + ], + "blue bowl": [ + 554, + 302, + 700, + 469 + ], + "corn": [ + 582, + 328, + 661, + 423 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3780250549316406, + 0.041883934289216995, + 0.06426624953746796, + -3.028038740158081, + -0.24882225692272186, + 0.17664356529712677 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38932880759239197, + 0.031823884695768356, + 0.05707750469446182, + -3.036362648010254, + -0.20536041259765625, + 0.11531471461057663 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3994786739349365, + 0.021718472242355347, + 0.04735882207751274, + -3.0356040000915527, + -0.1901727020740509, + 0.11220689117908478 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4043467938899994, + 0.01039010751992464, + 0.033817414194345474, + -3.0249521732330322, + -0.1560516059398651, + 0.07943984866142273 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4053197205066681, + 0.0018982957117259502, + 0.0208622757345438, + -3.050741195678711, + -0.11925304681062698, + 0.06493303179740906 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue grapes": [ + 313, + 406, + 427, + 548 + ], + "red pepper": [ + 404, + 243, + 529, + 389 + ], + "blue bowl": [ + 552, + 304, + 699, + 468 + ], + "sink": [ + 289, + 131, + 847, + 585 + ], + "corn": [ + 581, + 328, + 662, + 423 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4040488004684448, + -0.005412915721535683, + 0.019424837082624435, + -3.0806407928466797, + -0.10669385641813278, + 0.06033468618988991 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot is positioned near the sink where a blue bowl containing corn is visible. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its arm closer to the bowl to prepare for grasping the corn." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4006074368953705, + -0.010615174658596516, + 0.007453349884599447, + -3.0790445804595947, + -0.06088671088218689, + 0.05498768016695976 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.40439602732658386, + -0.009483791887760162, + 0.006472527515143156, + -3.0649337768554688, + -0.0723755806684494, + 0.06789865344762802 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4078066647052765, + -0.0068832687102258205, + 0.0006068196962587535, + -3.045851230621338, + -0.0922505110502243, + 0.06933789700269699 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.40860217809677124, + -0.009301649406552315, + -0.002161666052415967, + -3.0352349281311035, + -0.09848007559776306, + 0.07645445317029953 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4069489538669586, + -0.010868729092180729, + -0.006467849016189575, + -3.0323197841644287, + -0.09126302599906921, + 0.11724991351366043 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056248962879181, + -0.015237854793667793, + -0.005098179914057255, + -3.055370569229126, + -0.07467491179704666, + 0.14197582006454468 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41061925888061523, + -0.01903686858713627, + 0.0009062484605237842, + -3.0804696083068848, + -0.08062279224395752, + 0.1676173061132431 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41017982363700867, + -0.014505433849990368, + 0.0043405951000750065, + -3.078106641769409, + -0.08109339326620102, + 0.2104424387216568 + ], + "gripper_value": 0.6902000904083252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4129480719566345, + -0.013125117868185043, + 0.04379420354962349, + -3.1271212100982666, + -0.1436927169561386, + 0.22502881288528442 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue grapes": [ + 313, + 406, + 427, + 548 + ], + "blue bowl": [ + 565, + 311, + 713, + 468 + ], + "sink": [ + 288, + 130, + 847, + 585 + ], + "stovetop": [ + 30, + 6, + 374, + 327 + ], + "red pepper": [ + 403, + 240, + 529, + 388 + ], + "corn": [ + 611, + 258, + 692, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "position over corn and close gripper", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39801129698753357, + -0.014409766532480717, + 0.05959904193878174, + 3.1220784187316895, + -0.1281001716852188, + 0.21199755370616913 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot arm is positioned directly above the blue bowl containing corn in the sink. The gripper is currently open and aligned with the target object. The next action is to close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3793277144432068, + -0.01687372848391533, + 0.07137654721736908, + 3.1019418239593506, + -0.10745310038328171, + 0.1876734346151352 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot's gripper is in contact with the corn cob inside the blue bowl within the sink. The gripper has already closed, and the current subtask involves lifting the corn vertically. The next action is to raise the corn out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.36012202501296997, + -0.02275383099913597, + 0.06344208121299744, + 3.110038995742798, + -0.07638227939605713, + 0.15969036519527435 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "lift corn from bowl", + "subtask_reasoning": "The robot's gripper is in contact with the corn cob inside the blue bowl within the sink. The gripper has already closed, and the current subtask involves lifting the corn vertically. The next action is to raise the corn out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3519144654273987, + -0.02129019983112812, + 0.0506109893321991, + -3.1382853984832764, + -0.0716688334941864, + 0.15496203303337097 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot's gripper is in contact with the corn cob inside the blue bowl within the sink. The gripper has already closed, and the current subtask involves lifting the corn vertically. The next action is to raise the corn out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34956562519073486, + -0.01904912106692791, + 0.03172573447227478, + -3.120147705078125, + -0.05361848697066307, + 0.14234678447246552 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot's gripper is in contact with the corn cob inside the blue bowl within the sink. The gripper has already closed, and the current subtask involves lifting the corn vertically. The next action is to raise the corn out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3398110568523407, + -0.02074630931019783, + 0.021282274276018143, + -3.127103328704834, + -0.032752543687820435, + 0.1251760870218277 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue grapes": [ + 313, + 405, + 428, + 548 + ], + "red pepper": [ + 404, + 242, + 517, + 390 + ], + "sink": [ + 286, + 131, + 847, + 585 + ], + "blue bowl": [ + 571, + 319, + 713, + 469 + ], + "corn": [ + 552, + 366, + 638, + 489 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot's gripper is in contact with the corn cob inside the blue bowl within the sink. The gripper has already closed, and the current subtask involves lifting the corn vertically. The next action is to raise the corn out of the bowl while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3312884569168091, + -0.025148455053567886, + 0.010789667256176472, + -3.133390426635742, + -0.0017338898032903671, + 0.12520554661750793 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink basin, having successfully lifted it from the blue bowl. The gripper is closed and maintaining a steady position over the sink. The next action is to release the corn into the sink basin to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32922181487083435, + -0.03030344843864441, + -0.0022289820481091738, + -3.12069034576416, + 0.017095249146223068, + 0.12740157544612885 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink basin, having successfully lifted it from the blue bowl. The gripper is closed and maintaining a steady position over the sink. The next action is to release the corn into the sink basin to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3326165974140167, + -0.033281587064266205, + -0.011082264594733715, + -3.1212854385375977, + 0.026284219697117805, + 0.15332123637199402 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink basin, having successfully lifted it from the blue bowl. The gripper is closed and maintaining a steady position over the sink. The next action is to release the corn into the sink basin to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3347742259502411, + -0.035379331558942795, + -0.013443575240671635, + -3.1306653022766113, + 0.03356746584177017, + 0.17558641731739044 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink basin, having successfully lifted it from the blue bowl. The gripper is closed and maintaining a steady position over the sink. The next action is to release the corn into the sink basin to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33373314142227173, + -0.03559546172618866, + -0.012584825977683067, + -3.127048969268799, + 0.04048287868499756, + 0.18237848579883575 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "reposition corn over sink basin", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink basin, having successfully lifted it from the blue bowl. The gripper is closed and maintaining a steady position over the sink. The next action is to release the corn into the sink basin to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3275768458843231, + -0.034592580050230026, + -0.012424425221979618, + 3.1335344314575195, + 0.0861339420080185, + 0.17746959626674652 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "release corn and retreat", + "subtask_reasoning": "The robot is currently holding the corn cob above the sink basin, having successfully lifted it from the blue bowl. The gripper is closed and maintaining a steady position over the sink. The next action is to release the corn into the sink basin to complete the repositioning subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3255418837070465, + -0.02994830533862114, + -0.005847081076353788, + 3.115551233291626, + 0.10201194882392883, + 0.17770692706108093 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "release corn and retreat", + "subtask_reasoning": "The robot has successfully lifted the corn from the blue bowl in the sink and is currently holding it above the basin. The gripper is closed, maintaining a firm grasp on the corn cob. The next action is to release the corn into the sink and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33278006315231323, + -0.022532936185598373, + 0.028292305767536163, + 3.0692687034606934, + 0.045349184423685074, + 0.20873527228832245 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue bowl containing corn from the sink and place it on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position over corn and close gripper" + }, + { + "id": 3, + "subtask": "lift corn from bowl" + }, + { + "id": 4, + "subtask": "reposition corn over sink basin" + }, + { + "id": 5, + "subtask": "release corn and retreat" + } + ], + "subtask_name": "release corn and retreat", + "subtask_reasoning": "The robot has successfully lifted the corn from the blue bowl in the sink and is currently holding it above the basin. The gripper is closed, maintaining a firm grasp on the corn cob. The next action is to release the corn into the sink and retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000803_ecot.json b/cot/chunk-0000/episode_0000803_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b17bca5ffb890ce0b433d203046a0401b6f3edad --- /dev/null +++ b/cot/chunk-0000/episode_0000803_ecot.json @@ -0,0 +1,1920 @@ +{ + "task_name": "episode_0000803", + "episode_json": "json/chunk-0000/episode_0000803.json", + "video_path": "videos/chunk-0000/image_0/episode_0000803.mp4", + "instruction": "Take something blue on the cloth to come outside.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000803.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.8150891065597534, + "std": 0.36612701416015625, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.81509, std=0.36613, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 124, + 124, + 124, + 124, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 2 + ], + [ + 3, + 3, + 5 + ], + [ + 4, + 6, + 12 + ], + [ + 5, + 13, + 13 + ], + [ + 6, + 14, + 23 + ], + [ + 7, + 24, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue block on the cloth without closing gripper.\"},\n {\"id\": 2, \"name\": \"make contact with blue block\", \"start\": 6, \"end\": 12, \"planning\": \"Lower and position end-effector to make physical contact with the blue block, preparing for grasp.\"},\n {\"id\": 3, \"name\": \"grasp blue block\", \"start\": 13, \"end\": 13, \"planning\": \"Close gripper to securely grasp the blue block, confirmed by gripper value drop and visual evidence.\"},\n {\"id\": 4, \"name\": \"lift and reposition blue block\", \"start\": 14, \"end\": 23, \"planning\": \"Lift the grasped blue block and begin moving it away from the cloth toward the exit zone.\"},\n {\"id\": 5, \"name\": \"release blue block outside\", \"start\": 24, \"end\": 28, \"planning\": \"Open gripper to release the blue block outside the cloth area, completing the task.\"}\n ],\n \"global_plan\": \"Approach, contact, grasp, lift, and release the blue block from the cloth to an outside location, using observed gripper closure and motion phases.\",\n \"notes\": \"Subtasks align with segment spans and gripper evidence: no grasp before frame 13; release confirmed in segment 7 with gripper opening and object displacement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue block on the cloth without closing gripper." + }, + { + "id": 2, + "name": "make contact with blue block", + "start": 6, + "end": 12, + "planning": "Lower and position end-effector to make physical contact with the blue block, preparing for grasp." + }, + { + "id": 3, + "name": "grasp blue block", + "start": 13, + "end": 13, + "planning": "Close gripper to securely grasp the blue block, confirmed by gripper value drop and visual evidence." + }, + { + "id": 4, + "name": "lift and reposition blue block", + "start": 14, + "end": 23, + "planning": "Lift the grasped blue block and begin moving it away from the cloth toward the exit zone." + }, + { + "id": 5, + "name": "release blue block outside", + "start": 24, + "end": 28, + "planning": "Open gripper to release the blue block outside the cloth area, completing the task." + } + ], + "global_plan": "Approach, contact, grasp, lift, and release the blue block from the cloth to an outside location, using observed gripper closure and motion phases.", + "notes": "Subtasks align with segment spans and gripper evidence: no grasp before frame 13; release confirmed in segment 7 with gripper opening and object displacement." + } + }, + "episode_goal": "Pick up the blue block from the cloth and move it outside the cloth area.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23928746581077576, + 0.11483209580183029, + 0.1331433802843094, + -3.124786376953125, + -0.06713739782571793, + -0.8868802785873413 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the blue block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23978832364082336, + 0.11485405266284943, + 0.12632298469543457, + 3.1364328861236572, + -0.06415792554616928, + -0.8754936456680298 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible on the cloth. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the blue block to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.258290559053421, + 0.11778690665960312, + 0.10713070631027222, + 3.137486457824707, + -0.06840068846940994, + -0.7832745909690857 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the cloth, with the gripper open and no contact yet. The approach phase is underway but not complete. The next action should be to lower the end-effector toward the blue block to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783501446247101, + 0.12420643866062164, + 0.09835303574800491, + -3.125615358352661, + -0.07952231168746948, + -0.6967529058456421 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the cloth, with the gripper open and no contact yet. The approach phase is underway but not complete. The next action should be to lower the end-effector toward the blue block to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29808321595191956, + 0.13340412080287933, + 0.0867440328001976, + -3.115246057510376, + -0.09455600380897522, + -0.5917403101921082 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the cloth, with the gripper open and no contact yet. The approach phase is underway but not complete. The next action should be to lower the end-effector toward the blue block to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3186804950237274, + 0.14068318903446198, + 0.07960116118192673, + -3.1202282905578613, + -0.12460632622241974, + -0.4823184907436371 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the cloth, with the gripper open and no contact yet. The approach phase is underway but not complete. The next action should be to lower the end-effector toward the blue block to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33505895733833313, + 0.1438516229391098, + 0.07719762623310089, + 3.141362428665161, + -0.1638885885477066, + -0.3550967872142792 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the cloth, with the gripper open and no contact yet. The approach phase is underway but not complete. The next action should be to lower the end-effector toward the blue block to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, rotate clockwise 20 degrees, close gripper; then keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3422362208366394, + 0.14969034492969513, + 0.08375463634729385, + 3.124270439147949, + -0.20740629732608795, + -0.2213732898235321 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the cloth, with the gripper open and no contact yet. The approach phase is underway but not complete. The next action should be to lower the end-effector toward the blue block to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3456776738166809, + 0.15188179910182953, + 0.08748713880777359, + 3.116713523864746, + -0.2227192223072052, + -0.15242701768875122 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot is positioned above the blue block on the cloth, with the gripper open and no contact yet. The approach phase is underway but not complete. The next action should be to lower the end-effector toward the blue block to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35122033953666687, + 0.1522783488035202, + 0.07654134929180145, + 3.123870611190796, + -0.1972426325082779, + -0.1268007606267929 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block on the cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to make contact and grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move forward 2 cm, move left 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35635578632354736, + 0.1466091424226761, + 0.07033584266901016, + 3.131181478500366, + -0.1929570436477661, + -0.12099799513816833 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block on the cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to make contact and grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then keep gripper closed; then move forward 2 cm, move left 10 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3568372428417206, + 0.1454607993364334, + 0.05852179229259491, + 3.128913402557373, + -0.16253656148910522, + -0.09900454431772232 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block on the cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to make contact and grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 3 cm, move left 12 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3587975800037384, + 0.14341703057289124, + 0.052185576409101486, + 3.1359524726867676, + -0.14534758031368256, + -0.09503377974033356 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "make contact with blue block", + "subtask_reasoning": "The robot has approached the blue block on the cloth and is now positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to make contact and grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 5 cm, move left 13 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35899195075035095, + 0.14658015966415405, + 0.046558819711208344, + -3.140289783477783, + -0.12997078895568848, + -0.08833254873752594 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the cloth. The gripper is open and no meaningful closing signal is observed in this segment, so grasping has not yet occurred. The next action should be to close the gripper to securely grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move left 14 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36099696159362793, + 0.1464388072490692, + 0.05095510929822922, + 3.1397674083709717, + -0.13299775123596191, + -0.10314246267080307 + ], + "gripper_value": 0.3737536668777466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the cloth. The gripper is open and no meaningful closing signal is observed in this segment, so grasping has not yet occurred. The next action should be to close the gripper to securely grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 14 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36308082938194275, + 0.14512957632541656, + 0.05522805452346802, + 3.1234424114227295, + -0.13778650760650635, + -0.10236845165491104 + ], + "gripper_value": 0.19787359237670898 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the cloth. The gripper is open and no meaningful closing signal is observed in this segment, so grasping has not yet occurred. The next action should be to close the gripper to securely grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 14 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659152388572693, + 0.15191896259784698, + 0.06449931859970093, + 3.1045114994049072, + -0.15670298039913177, + -0.07768294960260391 + ], + "gripper_value": 0.18572701513767242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the cloth. The gripper is open and no meaningful closing signal is observed in this segment, so grasping has not yet occurred. The next action should be to close the gripper to securely grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 13 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697499632835388, + 0.16805647313594818, + 0.07469172775745392, + 3.091015100479126, + -0.17521102726459503, + -0.0336589589715004 + ], + "gripper_value": 0.18572701513767242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached and made contact with the blue block on the cloth. The gripper is open and no meaningful closing signal is observed in this segment, so grasping has not yet occurred. The next action should be to close the gripper to securely grasp the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37261417508125305, + 0.18854586780071259, + 0.08129501342773438, + 3.0850441455841064, + -0.18830271065235138, + 0.017170555889606476 + ], + "gripper_value": 0.18572701513767242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 10 cm, rotate clockwise 10 degrees, open gripper; then move back 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37633758783340454, + 0.21721692383289337, + 0.08475945144891739, + 3.0802299976348877, + -0.207209050655365, + 0.09201068431138992 + ], + "gripper_value": 0.18572701513767242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, rotate clockwise 10 degrees, open gripper; then move back 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827853500843048, + 0.24529556930065155, + 0.08852393925189972, + 3.068293333053589, + -0.22470344603061676, + 0.1643783301115036 + ], + "gripper_value": 0.18572701513767242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move back 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.39312753081321716, + 0.265758752822876, + 0.08945871144533157, + 3.065772771835327, + -0.24057051539421082, + 0.22315801680088043 + ], + "gripper_value": 0.18572701513767242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, open gripper; then move back 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4063560664653778, + 0.2773955762386322, + 0.08709800243377686, + 3.062587261199951, + -0.24510174989700317, + 0.2656458914279938 + ], + "gripper_value": 0.18572701513767242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4094257056713104, + 0.2843819260597229, + 0.08277057111263275, + 3.0842201709747314, + -0.2431894987821579, + 0.27911490201950073 + ], + "gripper_value": 0.2385561764240265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.40866726636886597, + 0.28601405024528503, + 0.08005087822675705, + 3.0937318801879883, + -0.24286459386348724, + 0.26772695779800415 + ], + "gripper_value": 0.505268931388855 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "release blue block outside", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40648841857910156, + 0.28281354904174805, + 0.0737127959728241, + 3.0874452590942383, + -0.22529882192611694, + 0.2471836358308792 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "release blue block outside", + "subtask_reasoning": "The blue block is currently grasped and lifted above the cloth, indicating successful completion of the grasp and initial lift. The robot is now repositioning the block toward an area outside the cloth. The next action should continue moving the block away from the cloth surface to complete the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.40610629320144653, + 0.2786797285079956, + 0.07065092027187347, + 3.067331552505493, + -0.21949581801891327, + 0.22855882346630096 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "release blue block outside", + "subtask_reasoning": "The blue block is already placed on the table outside the cloth area, and the gripper is fully open (0.99949), indicating the release action has been completed. The robot is currently stationary above the release location. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4012753963470459, + 0.26852893829345703, + 0.08011568337678909, + 3.036532163619995, + -0.22472265362739563, + 0.18311139941215515 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "release blue block outside", + "subtask_reasoning": "The blue block is already placed on the table outside the cloth area, and the gripper is fully open (0.99949), indicating the release action has been completed. The robot is currently stationary above the release location. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3787599503993988, + 0.24911291897296906, + 0.11532433331012726, + 3.034777879714966, + -0.23956923186779022, + 0.08198467642068863 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue block from the cloth and move it outside the cloth area." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "make contact with blue block" + }, + { + "id": 3, + "subtask": "grasp blue block" + }, + { + "id": 4, + "subtask": "lift and reposition blue block" + }, + { + "id": 5, + "subtask": "release blue block outside" + } + ], + "subtask_name": "release blue block outside", + "subtask_reasoning": "The blue block is already placed on the table outside the cloth area, and the gripper is fully open (0.99949), indicating the release action has been completed. The robot is currently stationary above the release location. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000804_ecot.json b/cot/chunk-0000/episode_0000804_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f5479bf5f4fd1a62e0bfd6f5d6ecd203cf25e5d5 --- /dev/null +++ b/cot/chunk-0000/episode_0000804_ecot.json @@ -0,0 +1,2083 @@ +{ + "task_name": "episode_0000804", + "episode_json": "json/chunk-0000/episode_0000804.json", + "video_path": "videos/chunk-0000/image_0/episode_0000804.mp4", + "instruction": "Put cucumber in cup.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000804.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.5465620756149292, + "std": 0.25273996591567993, + "delta_total": -0.009728670120239258, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.54656, std=0.25274, total_delta=-0.00973). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 113, + 113, + 113, + 213, + 213, + 213, + 226, + 226 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 19 + ], + [ + 4, + 20, + 22 + ], + [ + 5, + 23, + 25 + ], + [ + 6, + 26, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cucumber\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the cucumber on the table without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp cucumber\", \"start\": 4, \"end\": 12, \"planning\": \"Close gripper around cucumber and secure hold based on segment-level closing evidence and visual confirmation.\"},\n {\"id\": 3, \"name\": \"lift and transport cucumber\", \"start\": 13, \"end\": 19, \"planning\": \"Lift cucumber off table and move it toward the blue cup while maintaining grip.\"},\n {\"id\": 4, \"name\": \"position over cup\", \"start\": 20, \"end\": 22, \"planning\": \"Align cucumber above the blue cup opening without releasing or changing grip state.\"},\n {\"id\": 5, \"name\": \"release cucumber into cup\", \"start\": 23, \"end\": 25, \"planning\": \"Open gripper to drop cucumber into the cup, confirmed by motion pause and lack of closing signal.\"},\n {\"id\": 6, \"name\": \"retreat from cup\", \"start\": 26, \"end\": 27, \"planning\": \"Move end-effector away from cup after release, with gripper opening further as observed in segment evidence.\"}\n ],\n \"global_plan\": \"Approach cucumber, grasp it securely, lift and carry to cup, position above cup, release into cup, then retreat.\",\n \"notes\": \"Subtask boundaries follow provided segment spans; gripper actions are only labeled where segment-level evidence and images jointly support them. Segments 4 and 5 show no meaningful closing, so 'release' is inferred from context and motion pause, not gripper closure.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cucumber", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the cucumber on the table without closing gripper." + }, + { + "id": 2, + "name": "grasp cucumber", + "start": 4, + "end": 12, + "planning": "Close gripper around cucumber and secure hold based on segment-level closing evidence and visual confirmation." + }, + { + "id": 3, + "name": "lift and transport cucumber", + "start": 13, + "end": 19, + "planning": "Lift cucumber off table and move it toward the blue cup while maintaining grip." + }, + { + "id": 4, + "name": "position over cup", + "start": 20, + "end": 22, + "planning": "Align cucumber above the blue cup opening without releasing or changing grip state." + }, + { + "id": 5, + "name": "release cucumber into cup", + "start": 23, + "end": 25, + "planning": "Open gripper to drop cucumber into the cup, confirmed by motion pause and lack of closing signal." + }, + { + "id": 6, + "name": "retreat from cup", + "start": 26, + "end": 27, + "planning": "Move end-effector away from cup after release, with gripper opening further as observed in segment evidence." + } + ], + "global_plan": "Approach cucumber, grasp it securely, lift and carry to cup, position above cup, release into cup, then retreat.", + "notes": "Subtask boundaries follow provided segment spans; gripper actions are only labeled where segment-level evidence and images jointly support them. Segments 4 and 5 show no meaningful closing, so 'release' is inferred from context and motion pause, not gripper closure." + } + }, + "episode_goal": "Place the cucumber into the blue cup.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32966962456703186, + -0.08438114076852798, + 0.10451504588127136, + 3.0859272480010986, + -0.06394322961568832, + -0.14950352907180786 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot is positioned above the table with the cucumber visible to the left and the blue cup nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251575231552124, + -0.08333323895931244, + 0.09180103987455368, + 3.0892715454101562, + -0.022890955209732056, + -0.15416160225868225 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cup and cucumber visible; the gripper is open and no contact has been made yet. The subtask 'approach cucumber' is in progress, with the arm moving toward the cucumber but not yet in contact. The next action should continue translating the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 8 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32267090678215027, + -0.05412190780043602, + 0.08317288011312485, + 3.1025137901306152, + -0.0010646628215909004, + -0.12631480395793915 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cup and cucumber visible; the gripper is open and no contact has been made yet. The subtask 'approach cucumber' is in progress, with the arm moving toward the cucumber but not yet in contact. The next action should continue translating the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3153459131717682, + -0.0032345838844776154, + 0.07825865596532822, + 3.133713483810425, + -0.008010967634618282, + -0.046432673931121826 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cucumber", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cup and cucumber visible; the gripper is open and no contact has been made yet. The subtask 'approach cucumber' is in progress, with the arm moving toward the cucumber but not yet in contact. The next action should continue translating the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move forward 3 cm, move left 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31302836537361145, + 0.037357307970523834, + 0.07603145390748978, + -3.126631736755371, + -0.015661004930734634, + 0.023424522951245308 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 675, + 574, + 884, + 761 + ], + "orange carrot": [ + 613, + 159, + 722, + 252 + ], + "blue cup": [ + 609, + 299, + 767, + 488 + ], + "teal sponge": [ + 299, + 277, + 418, + 412 + ], + "blue grapes": [ + 790, + 279, + 891, + 406 + ], + "brown teddy bear": [ + 325, + 5, + 597, + 380 + ] + } + } + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cup and cucumber visible; the gripper is open and no contact has been made yet. The subtask 'approach cucumber' is in progress, with the arm moving toward the cucumber but not yet in contact. The next action should continue translating the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3139081597328186, + 0.06846658140420914, + 0.07642067968845367, + -3.1059625148773193, + -0.019723134115338326, + 0.001733086653985083 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cup and cucumber visible; the gripper is open and no contact has been made yet. The subtask 'approach cucumber' is in progress, with the arm moving toward the cucumber but not yet in contact. The next action should continue translating the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31796079874038696, + 0.0933757796883583, + 0.07039535790681839, + -3.07344126701355, + 0.00038559726090170443, + -0.0649406760931015 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cup and cucumber visible; the gripper is open and no contact has been made yet. The subtask 'approach cucumber' is in progress, with the arm moving toward the cucumber but not yet in contact. The next action should continue translating the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 6 cm, close gripper; then move back 1 cm, move right 2 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216972053050995, + 0.10789750516414642, + 0.061924129724502563, + -3.073009729385376, + 0.006366496905684471, + -0.11105329543352127 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cup and cucumber visible; the gripper is open and no contact has been made yet. The subtask 'approach cucumber' is in progress, with the arm moving toward the cucumber but not yet in contact. The next action should continue translating the end-effector closer to the cucumber to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, close gripper; then move back 1 cm, move right 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33075204491615295, + 0.1194588840007782, + 0.046879008412361145, + -3.0706803798675537, + -0.005347505211830139, + -0.14325948059558868 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move right 8 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3408884108066559, + 0.12119407206773758, + 0.03588252142071724, + -3.08138108253479, + -0.06180642545223236, + -0.16708770394325256 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 1 cm, move right 12 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34387513995170593, + 0.11997012048959732, + 0.022692173719406128, + -3.075441598892212, + -0.0571560375392437, + -0.172860249876976 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 3 cm, move right 14 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34545302391052246, + 0.11949239671230316, + 0.016630500555038452, + -3.0862133502960205, + -0.05078430101275444, + -0.16645660996437073 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 3 cm, move right 14 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34379538893699646, + 0.12144225090742111, + 0.007176625542342663, + -3.1052517890930176, + -0.04331585764884949, + -0.15287019312381744 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 14 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34547159075737, + 0.12170044332742691, + 0.006061487831175327, + -3.121371030807495, + -0.07794146984815598, + -0.13870596885681152 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3448363244533539, + 0.12105344980955124, + 0.006545561365783215, + -3.1236422061920166, + -0.07362469285726547, + -0.12581031024456024 + ], + "gripper_value": 0.45408597588539124 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 14 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.337526798248291, + 0.1133773997426033, + 0.020437201485037804, + -3.1250202655792236, + -0.05781366303563118, + -0.05264188349246979 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has approached the cucumber and is currently positioned directly above it. The gripper is open and ready to close. The next action is to close the gripper to grasp the cucumber." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 14 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3358383774757385, + 0.10141795128583908, + 0.06317143887281418, + -3.0671956539154053, + -0.09034286439418793, + 0.00623467518016696 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it off the table. It is currently holding the object in mid-air, positioned above the workspace. The next action is to transport the cucumber horizontally towards the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3390412926673889, + 0.07547163963317871, + 0.07697730511426926, + -3.081657648086548, + -0.10517455637454987, + -0.011833141557872295 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 673, + 574, + 884, + 763 + ], + "orange carrot": [ + 611, + 160, + 724, + 252 + ], + "blue cup": [ + 610, + 300, + 767, + 488 + ], + "brown teddy bear": [ + 486, + 227, + 592, + 348 + ], + "blue grapes": [ + 790, + 278, + 892, + 406 + ] + } + } + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it off the table. It is currently holding the object in mid-air, positioned above the workspace. The next action is to transport the cucumber horizontally towards the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34505099058151245, + 0.03926311805844307, + 0.07826322317123413, + -3.1097733974456787, + -0.11297446489334106, + -0.0567828007042408 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green pepper": [ + 675, + 574, + 884, + 763 + ], + "orange carrot": [ + 613, + 160, + 723, + 251 + ], + "blue cup": [ + 610, + 300, + 767, + 489 + ], + "brown teddy bear": [ + 494, + 230, + 592, + 347 + ], + "teal sponge": [ + 418, + 191, + 500, + 336 + ], + "blue grapes": [ + 790, + 279, + 892, + 406 + ] + } + } + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it off the table. It is currently holding the object in mid-air, positioned above the workspace. The next action is to transport the cucumber horizontally towards the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3603878915309906, + 0.004769443534314632, + 0.08535701036453247, + -3.1237432956695557, + -0.14773571491241455, + -0.11565376073122025 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and transport cucumber", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it off the table. It is currently holding the object in mid-air, positioned above the workspace. The next action is to transport the cucumber horizontally towards the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37343379855155945, + -0.022583840414881706, + 0.08379744738340378, + 3.140953779220581, + -0.16691577434539795, + -0.16568922996520996 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "position over cup", + "subtask_reasoning": "The robot has successfully grasped the cucumber and lifted it off the table. It is currently holding the object in mid-air, positioned above the workspace. The next action is to transport the cucumber horizontally towards the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3882039785385132, + -0.039312392473220825, + 0.07949905842542648, + 3.133188486099243, + -0.1919453889131546, + -0.18113690614700317 + ], + "gripper_value": 0.46716928482055664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "position over cup", + "subtask_reasoning": "The robot is holding the cucumber and has moved it directly above the blue cup. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to open the gripper to release the cucumber into the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3953493535518646, + -0.04677099734544754, + 0.06691203266382217, + 3.134596347808838, + -0.21137484908103943, + -0.18153417110443115 + ], + "gripper_value": 0.46716928482055664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "position over cup", + "subtask_reasoning": "The robot is holding the cucumber and has moved it directly above the blue cup. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to open the gripper to release the cucumber into the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984743058681488, + -0.04821503162384033, + 0.05741499736905098, + -3.0951123237609863, + -0.26954734325408936, + -0.1967637538909912 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "release cucumber into cup", + "subtask_reasoning": "The robot is holding the cucumber and has moved it directly above the blue cup. The gripper remains closed with no significant change, indicating the object is still secured. The next action is to open the gripper to release the cucumber into the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3995223343372345, + -0.04750639945268631, + 0.054000888019800186, + -3.0920090675354004, + -0.29147869348526, + -0.18443839251995087 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "release cucumber into cup", + "subtask_reasoning": "The robot arm is positioned directly above the blue cup with the cucumber held in the gripper. The gripper is currently closed, maintaining contact with the object. The next action is to open the gripper to release the cucumber into the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4006986618041992, + -0.049024369567632675, + 0.05330096557736397, + -3.0970571041107178, + -0.3060622215270996, + -0.17076890170574188 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "release cucumber into cup", + "subtask_reasoning": "The robot arm is positioned directly above the blue cup with the cucumber held in the gripper. The gripper is currently closed, maintaining contact with the object. The next action is to open the gripper to release the cucumber into the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39510950446128845, + -0.0500677190721035, + 0.05899098515510559, + -3.1041312217712402, + -0.32035285234451294, + -0.16118215024471283 + ], + "gripper_value": 0.763324499130249 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "retreat from cup", + "subtask_reasoning": "The cucumber is successfully placed inside the blue cup, and the robot arm is positioned directly above it. The gripper is open, indicating the object has been released. The next action is to move the arm away from the cup to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 26, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3917445242404938, + -0.04919256269931793, + 0.07078716158866882, + -3.09629225730896, + -0.32144132256507874, + -0.14619384706020355 + ], + "gripper_value": 0.9816622138023376 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cucumber into the blue cup." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cucumber" + }, + { + "id": 2, + "subtask": "grasp cucumber" + }, + { + "id": 3, + "subtask": "lift and transport cucumber" + }, + { + "id": 4, + "subtask": "position over cup" + }, + { + "id": 5, + "subtask": "release cucumber into cup" + }, + { + "id": 6, + "subtask": "retreat from cup" + } + ], + "subtask_name": "retreat from cup", + "subtask_reasoning": "The cucumber is successfully placed inside the blue cup, and the robot arm is positioned directly above it. The gripper is open, indicating the object has been released. The next action is to move the arm away from the cup to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 26, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000807_ecot.json b/cot/chunk-0000/episode_0000807_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2e8ed4e6d6eceae3edb703461002a0385e3a064b --- /dev/null +++ b/cot/chunk-0000/episode_0000807_ecot.json @@ -0,0 +1,1036 @@ +{ + "task_name": "episode_0000807", + "episode_json": "json/chunk-0000/episode_0000807.json", + "video_path": "videos/chunk-0000/image_0/episode_0000807.mp4", + "instruction": "Lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000807.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.6378824710845947, + "std": 0.2900976240634918, + "delta_total": -0.6378824710845947, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.63788, std=0.29010, total_delta=-0.63788). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 10 + ], + [ + 3, + 11, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lever\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector to the lever handle and close gripper to establish a firm grasp.\"},\n {\"id\": 2, \"name\": \"pull lever toward front\", \"start\": 8, \"end\": 10, \"planning\": \"While maintaining grip, translate the lever backward toward the front of the sink area.\"},\n {\"id\": 3, \"name\": \"lower and release lever\", \"start\": 11, \"end\": 16, \"planning\": \"Slightly lower the lever into its final position and open gripper to release contact.\"}\n ],\n \"global_plan\": \"Grasp the vertical lever, pull it forward toward the user, then lower and release it in the new orientation.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.448), supporting 'grasp'. Segment 2 has no gripper change — motion is pure translation while holding. Segment 3 shows small but consistent gripper opening (delta=-0.035) coinciding with downward motion, supporting 'release'.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lever", + "start": 0, + "end": 7, + "planning": "Move end-effector to the lever handle and close gripper to establish a firm grasp." + }, + { + "id": 2, + "name": "pull lever toward front", + "start": 8, + "end": 10, + "planning": "While maintaining grip, translate the lever backward toward the front of the sink area." + }, + { + "id": 3, + "name": "lower and release lever", + "start": 11, + "end": 16, + "planning": "Slightly lower the lever into its final position and open gripper to release contact." + } + ], + "global_plan": "Grasp the vertical lever, pull it forward toward the user, then lower and release it in the new orientation.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.448), supporting 'grasp'. Segment 2 has no gripper change — motion is pure translation while holding. Segment 3 shows small but consistent gripper opening (delta=-0.035) coinciding with downward motion, supporting 'release'." + } + }, + "episode_goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3874639570713043, + -0.05863107368350029, + 0.07512979954481125, + -2.8518409729003906, + -0.07826915383338928, + -0.02801189199090004 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open and approaching the vertical faucet lever. No contact has been made yet, and the subtask of grasping the lever is in progress. The next action should involve moving the gripper closer to align with and make contact with the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38680365681648254, + -0.05557303875684738, + 0.06737908720970154, + -2.8107569217681885, + -0.07188166677951813, + -0.028965987265110016 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 352, + 824, + 944 + ], + "stove burner": [ + 83, + 295, + 311, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open and approaching the vertical faucet lever. No contact has been made yet, and the subtask of grasping the lever is in progress. The next action should involve moving the gripper closer to align with and make contact with the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.389155775308609, + -0.06100015342235565, + 0.07263974845409393, + -2.7578213214874268, + -0.13120917975902557, + -0.04196039214730263 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open and approaching the vertical faucet lever. No contact has been made yet, and the subtask of grasping the lever is in progress. The next action should involve moving the gripper closer to align with and make contact with the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39553025364875793, + -0.06429670751094818, + 0.07853329181671143, + -2.7368838787078857, + -0.19660095870494843, + -0.05188601464033127 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the vertical faucet lever. No contact has been made yet, and the gripper remains fully open. The next action should be to move the gripper closer to the lever and close it to establish a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40349236130714417, + -0.06700842827558517, + 0.08046408742666245, + -2.7495672702789307, + -0.2369236946105957, + -0.07617378979921341 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the vertical faucet lever. No contact has been made yet, and the gripper remains fully open. The next action should be to move the gripper closer to the lever and close it to establish a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4163142442703247, + -0.06566190719604492, + 0.09043259173631668, + -2.7793424129486084, + -0.2789289951324463, + -0.08753721415996552 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the vertical faucet lever. No contact has been made yet, and the gripper remains fully open. The next action should be to move the gripper closer to the lever and close it to establish a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4250223934650421, + -0.06242106109857559, + 0.0919031873345375, + -2.7854039669036865, + -0.2942641079425812, + -0.08541151881217957 + ], + "gripper_value": 0.842682421207428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the vertical faucet lever. No contact has been made yet, and the gripper remains fully open. The next action should be to move the gripper closer to the lever and close it to establish a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4263380169868469, + -0.061599262058734894, + 0.08877301961183548, + -2.795081377029419, + -0.28667327761650085, + -0.07415039092302322 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the vertical faucet lever. No contact has been made yet, and the gripper remains fully open. The next action should be to move the gripper closer to the lever and close it to establish a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4256649613380432, + -0.059882886707782745, + 0.08821368962526321, + -2.8107926845550537, + -0.2835955321788788, + -0.04845847561955452 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "pull lever toward front", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open and aligned near the vertical faucet lever. No contact has been made yet, and the gripper remains fully open. The next action should be to move the gripper closer to the lever and close it to establish a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.41520678997039795, + -0.05991550162434578, + 0.08456827700138092, + -2.821429491043091, + -0.24404236674308777, + 0.001760597457177937 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "pull lever toward front", + "subtask_reasoning": "The robot has already grasped the vertical lever of the faucet. The current frame shows the gripper in contact with the lever, and the segment-level evidence indicates no meaningful closing action. The next likely action is to pull the lever forward to turn on the water." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4006297290325165, + -0.06088578328490257, + 0.08117177337408066, + -2.828721761703491, + -0.1832275688648224, + 0.03102106600999832 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "pull lever toward front", + "subtask_reasoning": "The robot has already grasped the vertical lever of the faucet. The current frame shows the gripper in contact with the lever, and the segment-level evidence indicates no meaningful closing action. The next likely action is to pull the lever forward to turn on the water." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3887734115123749, + -0.06306387484073639, + 0.0754624530673027, + -2.868666172027588, + -0.11059393733739853, + 0.05956043675541878 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "lower and release lever", + "subtask_reasoning": "The robot has already grasped the vertical lever of the faucet. The current frame shows the gripper in contact with the lever, and the segment-level evidence indicates no meaningful closing action. The next likely action is to pull the lever forward to turn on the water." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3806033730506897, + -0.06224450469017029, + 0.06388986110687256, + -2.928110361099243, + -0.06521207839250565, + 0.08342863619327545 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "lower and release lever", + "subtask_reasoning": "The robot has already grasped the vertical lever of the faucet. The current frame shows the gripper in contact with the lever, and the segment-level evidence indicates no meaningful closing action. The next likely action is to pull the lever forward to turn on the water." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3763936161994934, + -0.06189749762415886, + 0.05152728781104088, + -2.962649345397949, + -0.058581478893756866, + 0.0854681208729744 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 208, + 352, + 824, + 943 + ], + "stove burner": [ + 76, + 294, + 316, + 519 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "lower and release lever", + "subtask_reasoning": "The lever has been pulled forward and is now being lowered toward its final position. The gripper remains in contact with the lever, and the next action is to release it once fully lowered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3750530779361725, + -0.061346374452114105, + 0.04483677074313164, + -2.982227087020874, + -0.06270605325698853, + 0.08637823909521103 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "lower and release lever", + "subtask_reasoning": "The lever has been pulled forward and is now being lowered toward its final position. The gripper remains in contact with the lever, and the next action is to release it once fully lowered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3747413158416748, + -0.060471560806035995, + 0.039842188358306885, + -2.9951894283294678, + -0.07102581858634949, + 0.08348304778337479 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "lower and release lever", + "subtask_reasoning": "The lever has been pulled forward and is now being lowered toward its final position. The gripper remains in contact with the lever, and the next action is to release it once fully lowered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37469595670700073, + -0.059963468462228775, + 0.037400536239147186, + -3.0010688304901123, + -0.07587400823831558, + 0.07943491637706757 + ], + "gripper_value": 0.36359503865242004 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the vertical lever of the faucet and pull it forward to turn on the water." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "pull lever toward front" + }, + { + "id": 3, + "subtask": "lower and release lever" + } + ], + "subtask_name": "lower and release lever", + "subtask_reasoning": "The lever has been pulled forward and is now being lowered toward its final position. The gripper remains in contact with the lever, and the next action is to release it once fully lowered." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000808_ecot.json b/cot/chunk-0000/episode_0000808_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6906aad74b13fc290cad60e362bf13df70916dbe --- /dev/null +++ b/cot/chunk-0000/episode_0000808_ecot.json @@ -0,0 +1,1234 @@ +{ + "task_name": "episode_0000808", + "episode_json": "json/chunk-0000/episode_0000808.json", + "video_path": "videos/chunk-0000/image_0/episode_0000808.mp4", + "instruction": "Unfold the cloth from top left to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000808.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 5.960464477539063e-08, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from the initial position toward the folded blue cloth on the table.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 5, \"end\": 11, \"planning\": \"Lower and adjust the gripper to make gentle contact with the top-left corner of the cloth without grasping.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 12, \"end\": 16, \"planning\": \"Slide the cloth across the table surface from top-left toward bottom-right using continuous contact motion.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 17, \"end\": 18, \"planning\": \"Lift the end-effector slightly and withdraw from the cloth after completing the unfolding motion.\"}\n ],\n \"global_plan\": \"Unfold the cloth by approaching, making contact, dragging it diagonally across the table, then releasing and retreating — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~0.99882 (fully open) in all segments; no grasp or lift occurs. Motion is purely contact-based sliding. Segment boundaries respected but split into 4 phases for natural manipulation granularity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move the end-effector from the initial position toward the folded blue cloth on the table." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 5, + "end": 11, + "planning": "Lower and adjust the gripper to make gentle contact with the top-left corner of the cloth without grasping." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 12, + "end": 16, + "planning": "Slide the cloth across the table surface from top-left toward bottom-right using continuous contact motion." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 17, + "end": 18, + "planning": "Lift the end-effector slightly and withdraw from the cloth after completing the unfolding motion." + } + ], + "global_plan": "Unfold the cloth by approaching, making contact, dragging it diagonally across the table, then releasing and retreating — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~0.99882 (fully open) in all segments; no grasp or lift occurs. Motion is purely contact-based sliding. Segment boundaries respected but split into 4 phases for natural manipulation granularity." + } + }, + "episode_goal": "Unfold the cloth from top left to bottom right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167247474193573, + -0.05520680174231529, + 0.16923563182353973, + 2.9511289596557617, + -0.28226080536842346, + 0.08975917100906372 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the folded blue cloth. No contact has been made yet, and no motion toward dragging has occurred. The next action is to lower and move the end-effector toward the top-left corner of the cloth to initiate contact for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3175065219402313, + -0.05546938255429268, + 0.16067233681678772, + 2.954285144805908, + -0.2575954794883728, + 0.09112200140953064 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the folded blue cloth. No contact has been made yet, and no motion toward dragging has occurred. The next action is to lower and move the end-effector toward the top-left corner of the cloth to initiate contact for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 10 cm, move left 8 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3079219460487366, + -0.06030484288930893, + 0.1416095346212387, + 2.965607166290283, + -0.22010333836078644, + 0.05457405373454094 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper fully open, approaching the folded blue cloth. No contact has been made yet, and no grasping has occurred as per gripper evidence. The next action is to continue moving toward the top-left corner of the cloth to initiate diagonal dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 11 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.298737108707428, + -0.0678354799747467, + 0.12282141298055649, + 2.989441394805908, + -0.18290412425994873, + 0.016250094398856163 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper fully open, approaching the folded blue cloth. No contact has been made yet, and no grasping has occurred as per gripper evidence. The next action is to continue moving toward the top-left corner of the cloth to initiate diagonal dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 11 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28525105118751526, + -0.07693853974342346, + 0.0947626382112503, + 2.9880874156951904, + -0.11384007334709167, + -0.03483084216713905 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper fully open, approaching the folded blue cloth. No contact has been made yet, and no grasping has occurred as per gripper evidence. The next action is to continue moving toward the top-left corner of the cloth to initiate diagonal dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 11 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28102171421051025, + -0.08035574853420258, + 0.07203681021928787, + 3.041110038757324, + -0.08161723613739014, + -0.07439641654491425 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 2, + 859, + 124, + 996 + ], + "blue cloth": [ + 476, + 341, + 887, + 759 + ], + "wooden table": [ + 3, + 64, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper fully open, approaching the folded blue cloth. No contact has been made yet, and no grasping has occurred as per gripper evidence. The next action is to continue moving toward the top-left corner of the cloth to initiate diagonal dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2819180488586426, + -0.07823974639177322, + 0.06349921971559525, + 3.0605814456939697, + -0.0797843262553215, + -0.06596751511096954 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper fully open, approaching the folded blue cloth. No contact has been made yet, and no grasping has occurred as per gripper evidence. The next action is to continue moving toward the top-left corner of the cloth to initiate diagonal dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2837488055229187, + -0.0706317350268364, + 0.05467242747545242, + 3.075779676437378, + -0.06276120990514755, + -0.03956788033246994 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is positioned above the table with the gripper fully open, approaching the folded blue cloth. No contact has been made yet, and no grasping has occurred as per gripper evidence. The next action is to continue moving toward the top-left corner of the cloth to initiate diagonal dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 10 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29790279269218445, + -0.05828629434108734, + 0.05234315246343613, + 3.075730800628662, + -0.06529272347688675, + 0.019262120127677917 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now positioned directly above it with the gripper fully open. The current situation indicates readiness to make contact without grasping. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215721547603607, + -0.045524343848228455, + 0.052250854671001434, + 3.0739095211029053, + -0.07214546203613281, + 0.08018402755260468 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now positioned directly above it with the gripper fully open. The current situation indicates readiness to make contact without grasping. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3475506901741028, + -0.02601892501115799, + 0.052374616265296936, + 3.0784177780151367, + -0.07875209301710129, + 0.14684566855430603 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 2, + 860, + 125, + 996 + ], + "blue cloth": [ + 479, + 245, + 860, + 594 + ], + "wooden table": [ + 3, + 52, + 996, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now positioned directly above it with the gripper fully open. The current situation indicates readiness to make contact without grasping. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.37695541977882385, + 0.0023350550327450037, + 0.05370098352432251, + 3.0715854167938232, + -0.09850968420505524, + 0.24238714575767517 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the cloth and is now positioned directly above it with the gripper fully open. The current situation indicates readiness to make contact without grasping. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3910796344280243, + 0.031121760606765747, + 0.055755116045475006, + 3.075043201446533, + -0.11416612565517426, + 0.3251674175262451 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the cloth and is now positioned directly above it with the gripper fully open. The current situation indicates readiness to make contact without grasping. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39832931756973267, + 0.05525533854961395, + 0.06057509779930115, + 3.0705602169036865, + -0.1219688206911087, + 0.39808982610702515 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the cloth and is now positioned directly above it with the gripper fully open. The current situation indicates readiness to make contact without grasping. The next action is to lower the end-effector slightly to establish contact with the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4031733274459839, + 0.06908375769853592, + 0.06923583894968033, + 3.069049596786499, + -0.14466510713100433, + 0.4422585964202881 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the folded blue cloth on the table, with the gripper fully open and no grasping occurring. The cloth has been approached and touched, but not yet dragged diagonally as required. The next action should be to move the end-effector diagonally across the table while maintaining light contact to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4063820540904999, + 0.06851890683174133, + 0.07556643337011337, + 3.0545294284820557, + -0.14640991389751434, + 0.4357393980026245 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the folded blue cloth on the table, with the gripper fully open and no grasping occurring. The cloth has been approached and touched, but not yet dragged diagonally as required. The next action should be to move the end-effector diagonally across the table while maintaining light contact to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.40538182854652405, + 0.06547139585018158, + 0.07668691128492355, + 3.0429470539093018, + -0.1359342783689499, + 0.4342961013317108 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the folded blue cloth on the table, with the gripper fully open and no grasping occurring. The cloth has been approached and touched, but not yet dragged diagonally as required. The next action should be to move the end-effector diagonally across the table while maintaining light contact to unfold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4020136296749115, + 0.06335979700088501, + 0.10438308864831924, + 3.0216195583343506, + -0.16916026175022125, + 0.45168018341064453 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The cloth has been dragged diagonally across the table and is now fully unfolded. The gripper remains open and is retreating upward and away from the cloth, indicating release of contact. No further manipulation is needed; the subtask is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3954000771045685, + 0.06114385277032852, + 0.14332269132137299, + 2.9922540187835693, + -0.24009253084659576, + 0.46659475564956665 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from top left to bottom right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The cloth has been dragged diagonally across the table and is now fully unfolded. The gripper remains open and is retreating upward and away from the cloth, indicating release of contact. No further manipulation is needed; the subtask is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000809_ecot.json b/cot/chunk-0000/episode_0000809_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..097625f79e06719a514dcadc9cf04b592bef00bd --- /dev/null +++ b/cot/chunk-0000/episode_0000809_ecot.json @@ -0,0 +1,2128 @@ +{ + "task_name": "episode_0000809", + "episode_json": "json/chunk-0000/episode_0000809.json", + "video_path": "videos/chunk-0000/image_0/episode_0000809.mp4", + "instruction": "Moved knife to the bottom left of burners.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000809.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.4794430136680603, + "std": 0.22789745032787323, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.47944, std=0.22790, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the knife on the stovetop while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp knife\", \"start\": 9, \"end\": 17, \"planning\": \"Close gripper around knife handle and confirm secure hold as gripper value drops significantly.\"},\n {\"id\": 3, \"name\": \"lift and reposition knife\", \"start\": 18, \"end\": 25, \"planning\": \"Lift knife slightly and begin moving it toward bottom-left of burners while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place knife at target\", \"start\": 26, \"end\": 33, \"planning\": \"Lower knife to final position at bottom-left of burners and release by opening gripper.\"}\n ],\n \"global_plan\": \"Approach the knife on the stovetop, grasp it securely, lift and move it to the bottom-left area of the burners, then place it down and release.\",\n \"notes\": \"Gripper evidence supports grasp during segment 1 (closing) and release during segment 2 (opening). Motion and image frames confirm contact, lifting, and placement phases. Subtasks align with observed proprioceptive and visual cues.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the knife on the stovetop while keeping gripper open." + }, + { + "id": 2, + "name": "grasp knife", + "start": 9, + "end": 17, + "planning": "Close gripper around knife handle and confirm secure hold as gripper value drops significantly." + }, + { + "id": 3, + "name": "lift and reposition knife", + "start": 18, + "end": 25, + "planning": "Lift knife slightly and begin moving it toward bottom-left of burners while maintaining grip." + }, + { + "id": 4, + "name": "place knife at target", + "start": 26, + "end": 33, + "planning": "Lower knife to final position at bottom-left of burners and release by opening gripper." + } + ], + "global_plan": "Approach the knife on the stovetop, grasp it securely, lift and move it to the bottom-left area of the burners, then place it down and release.", + "notes": "Gripper evidence supports grasp during segment 1 (closing) and release during segment 2 (opening). Motion and image frames confirm contact, lifting, and placement phases. Subtasks align with observed proprioceptive and visual cues." + } + }, + "episode_goal": "Move the knife to the bottom left of the burners.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4108078181743622, + 0.07440811395645142, + 0.09431862831115723, + 2.885777473449707, + -0.2022499293088913, + 1.28365159034729 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible on the surface. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the knife to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 15 cm, move down 7 cm, tilt left 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4055606722831726, + 0.0718865692615509, + 0.07851427793502808, + 2.9254400730133057, + -0.17986346781253815, + 1.2886704206466675 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible on the surface. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the knife to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 15 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839610815048218, + 0.03809216246008873, + 0.07635734230279922, + 2.954907178878784, + -0.15974721312522888, + 1.3482766151428223 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible on the surface. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the knife to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 11 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36974862217903137, + 0.01619119942188263, + 0.0997217521071434, + 2.9150657653808594, + -0.1649513840675354, + 1.4071693420410156 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible on the surface. No movement or grasping has occurred yet. The next action should be to lower the end-effector toward the knife to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 9 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35926172137260437, + 0.00955521035939455, + 0.11166281253099442, + 2.9049954414367676, + -0.1887054741382599, + 1.4503041505813599 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 8 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455769717693329, + -0.019359605386853218, + 0.10384369641542435, + 2.941455125808716, + -0.18445329368114471, + 1.4289186000823975 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.33400896191596985, + -0.041927218437194824, + 0.0872039869427681, + 2.95231032371521, + -0.16217951476573944, + 1.3846019506454468 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 423, + 224, + 474, + 324 + ], + "faucet": [ + 944, + 387, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.31791797280311584, + -0.06124647706747055, + 0.0714421272277832, + 2.9820306301116943, + -0.15814685821533203, + 1.3269912004470825 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30093100666999817, + -0.0655190572142601, + 0.04591894894838333, + 3.013730049133301, + -0.12885184586048126, + 1.300392508506775 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982774078845978, + -0.07486215978860855, + 0.023130320012569427, + 3.0362236499786377, + -0.12656542658805847, + 1.2461379766464233 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29684701561927795, + -0.07607032358646393, + 0.012147258035838604, + 3.0514333248138428, + -0.12195420265197754, + 1.243686556816101 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004380464553833, + -0.07979953289031982, + 0.005116403102874756, + 3.058716058731079, + -0.11369449645280838, + 1.2241531610488892 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move left 10 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3034208118915558, + -0.08615279942750931, + 0.004813832230865955, + 3.062412738800049, + -0.1575964093208313, + 1.1908761262893677 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the stovetop with the knife visible in the bottom-left area of the burners. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move left 13 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3029513657093048, + -0.08676167577505112, + 0.004679417237639427, + 3.0552144050598145, + -0.1556115299463272, + 1.1964882612228394 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed; then move back 1 cm, move left 16 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30168062448501587, + -0.08621306717395782, + 0.005177436396479607, + 3.0532772541046143, + -0.1559717357158661, + 1.198228359222412 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 424, + 225, + 473, + 325 + ], + "faucet": [ + 945, + 388, + 996, + 544 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 17 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004198670387268, + -0.08439438790082932, + 0.006920454557985067, + 3.045912027359009, + -0.16344738006591797, + 1.2070666551589966 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed; then move back 3 cm, move left 18 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2975251376628876, + -0.07058412581682205, + 0.015902135521173477, + 3.050154685974121, + -0.1826678365468979, + 1.2410993576049805 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 4 cm, move left 19 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30703362822532654, + -0.06354346126317978, + 0.041541505604982376, + 2.982151985168457, + -0.1978520154953003, + 1.2661930322647095 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move left 19 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.31924089789390564, + -0.05969332158565521, + 0.06980642676353455, + 2.925006628036499, + -0.22225673496723175, + 1.2786335945129395 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 19 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203948736190796, + -0.03321458026766777, + 0.09265721589326859, + 2.885612964630127, + -0.23590870201587677, + 1.3553508520126343 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 424, + 224, + 474, + 315 + ], + "faucet": [ + 945, + 388, + 996, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 16 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.318477064371109, + 0.005449905525892973, + 0.09009622037410736, + 2.892796516418457, + -0.24647164344787598, + 1.4092910289764404 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The robot has approached the knife on the stovetop and is now in contact with it. The gripper is closing around the knife handle, indicating the grasp action is underway. The next step is to fully secure the knife before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31981921195983887, + 0.04084298387169838, + 0.09149713814258575, + 2.8875463008880615, + -0.2767055928707123, + 1.445553183555603 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.320669025182724, + 0.07378225773572922, + 0.0814799964427948, + 2.8925039768218994, + -0.3083191514015198, + 1.438215732574463 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30989599227905273, + 0.09922634065151215, + 0.05943917855620384, + 2.944167375564575, + -0.31358420848846436, + 1.4245805740356445 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 5 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29499033093452454, + 0.114741250872612, + 0.03620345517992973, + 2.9826819896698, + -0.29110994935035706, + 1.4374784231185913 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28589195013046265, + 0.12451490759849548, + 0.018527165055274963, + 3.0188982486724854, + -0.273592472076416, + 1.4389194250106812 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 424, + 223, + 474, + 325 + ], + "sink": [ + 742, + 445, + 994, + 957 + ], + "faucet": [ + 944, + 387, + 996, + 546 + ] + } + } + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "lift and reposition knife", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836983799934387, + 0.12627924978733063, + 0.011504682712256908, + 3.028327703475952, + -0.26635220646858215, + 1.4306182861328125 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832276523113251, + 0.12555864453315735, + 0.01057611033320427, + 3.0289340019226074, + -0.2580324411392212, + 1.4470248222351074 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28168120980262756, + 0.12323728203773499, + 0.010291151702404022, + 3.0297353267669678, + -0.2372991293668747, + 1.4952044486999512 + ], + "gripper_value": 0.9124506115913391 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The knife is currently being held above the stovetop, having been successfully grasped and lifted in previous steps. The gripper remains closed with no motion indicating release, confirming the object is still secured. The next action is to translate the arm to position the knife over the bottom-left area of the burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.28225260972976685, + 0.12002058327198029, + 0.011578532867133617, + 3.045706272125244, + -0.22838258743286133, + 1.479117751121521 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The robot arm is positioned over the bottom-left area of the stovetop with the gripper open, indicating the knife has been released. The placement action appears complete as the end-effector is hovering above the target location without holding any object. The next step is to retract the arm away from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28406673669815063, + 0.11309447139501572, + 0.012272743508219719, + 3.0558230876922607, + -0.22156184911727905, + 1.462650179862976 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The robot arm is positioned over the bottom-left area of the stovetop with the gripper open, indicating the knife has been released. The placement action appears complete as the end-effector is hovering above the target location without holding any object. The next step is to retract the arm away from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2933587431907654, + 0.10800763219594955, + 0.03343898057937622, + 3.015509605407715, + -0.25031933188438416, + 1.4493268728256226 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The robot arm is positioned over the bottom-left area of the stovetop with the gripper open, indicating the knife has been released. The placement action appears complete as the end-effector is hovering above the target location without holding any object. The next step is to retract the arm away from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022606670856476, + 0.09918279200792313, + 0.06646755337715149, + 2.9401156902313232, + -0.2793581783771515, + 1.440180778503418 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The robot arm is positioned over the bottom-left area of the stovetop with the gripper open, indicating the knife has been released. The placement action appears complete as the end-effector is hovering above the target location without holding any object. The next step is to retract the arm away from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061489760875702, + 0.09169766306877136, + 0.09875190258026123, + 2.834099769592285, + -0.2807786464691162, + 1.4468110799789429 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the knife to the bottom left of the burners." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and reposition knife" + }, + { + "id": 4, + "subtask": "place knife at target" + } + ], + "subtask_name": "place knife at target", + "subtask_reasoning": "The robot arm is positioned over the bottom-left area of the stovetop with the gripper open, indicating the knife has been released. The placement action appears complete as the end-effector is hovering above the target location without holding any object. The next step is to retract the arm away from the stovetop." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000810_ecot.json b/cot/chunk-0000/episode_0000810_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..10ce40eae21eb18e69b2e7fea7facb7625c32856 --- /dev/null +++ b/cot/chunk-0000/episode_0000810_ecot.json @@ -0,0 +1,1229 @@ +{ + "task_name": "episode_0000810", + "episode_json": "json/chunk-0000/episode_0000810.json", + "video_path": "videos/chunk-0000/image_0/episode_0000810.mp4", + "instruction": "Turn faucet front to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000810.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.000718235969543457, + "std": 0.00035186231252737343, + "delta_total": 0.000718235969543457, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00072, std=0.00035, total_delta=0.00072). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 16 + ], + [ + 2, + 17, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach faucet handle\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the faucet handle from initial position, aligning for contact without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 9, \"end\": 16, \"planning\": \"Establish physical contact with the faucet handle and begin applying rotational force to turn it rightward.\"},\n {\"id\": 3, \"name\": \"complete rotation and retreat\", \"start\": 17, \"end\": 19, \"planning\": \"Finish turning the faucet handle to the right and withdraw end-effector while maintaining light contact or sliding off.\"}\n ],\n \"global_plan\": \"Turn the faucet handle from front-facing to right-facing by approaching, making contact, rotating via push/slide motion, then retreating — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes meaningfully (delta < 0.001), so no grasp/pick/place terms are used. Motion is contact-based pushing/sliding on the handle. Segment boundaries respected but merged into natural phases: approach, contact+rotate, retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach faucet handle", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the faucet handle from initial position, aligning for contact without grasping." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 9, + "end": 16, + "planning": "Establish physical contact with the faucet handle and begin applying rotational force to turn it rightward." + }, + { + "id": 3, + "name": "complete rotation and retreat", + "start": 17, + "end": 19, + "planning": "Finish turning the faucet handle to the right and withdraw end-effector while maintaining light contact or sliding off." + } + ], + "global_plan": "Turn the faucet handle from front-facing to right-facing by approaching, making contact, rotating via push/slide motion, then retreating — all without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes meaningfully (delta < 0.001), so no grasp/pick/place terms are used. Motion is contact-based pushing/sliding on the handle. Segment boundaries respected but merged into natural phases: approach, contact+rotate, retreat." + } + }, + "episode_goal": "Turn the faucet handle to the right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23532065749168396, + 0.01857331395149231, + 0.23213693499565125, + -3.0997722148895264, + 0.24583187699317932, + -0.04871188476681709 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible and accessible. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action should be to move the end-effector closer to the faucet handle to prepare for contact-based rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24147938191890717, + 0.02712966315448284, + 0.2226742058992386, + -3.1103224754333496, + 0.2860570251941681, + -0.03395857661962509 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible and accessible. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action should be to move the end-effector closer to the faucet handle to prepare for contact-based rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25299087166786194, + 0.04943270608782768, + 0.22355476021766663, + -3.099374532699585, + 0.27981600165367126, + 0.018956955522298813 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 472, + 507, + 586, + 640 + ], + "faucet": [ + 351, + 31, + 694, + 549 + ], + "yellow sponge": [ + 397, + 338, + 488, + 419 + ], + "toy apple": [ + 534, + 716, + 635, + 846 + ], + "dish rack": [ + 335, + 266, + 601, + 479 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible and accessible. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action should be to move the end-effector closer to the faucet handle to prepare for contact-based rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26625412702560425, + 0.05467557907104492, + 0.21934162080287933, + -3.090458869934082, + 0.2874716520309448, + 0.02394106797873974 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible and accessible. No actions have been completed yet. The gripper remains open, indicating no grasp has occurred. The next action should be to move the end-effector closer to the faucet handle to prepare for contact-based rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.278083860874176, + 0.06272299587726593, + 0.21480531990528107, + -3.08479642868042, + 0.2938135266304016, + 0.032820675522089005 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29798629879951477, + 0.06461779028177261, + 0.20528678596019745, + -3.0838100910186768, + 0.31184661388397217, + 0.01793687790632248 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31618472933769226, + 0.06520663946866989, + 0.19869168102741241, + -3.083707571029663, + 0.31812629103660583, + 0.01057382207363844 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3280523121356964, + 0.06606445461511612, + 0.19688118994235992, + -3.0860421657562256, + 0.3232414126396179, + 0.0009986136574298143 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3330092132091522, + 0.05609140917658806, + 0.1930580884218216, + -3.0872538089752197, + 0.3444433808326721, + -0.04253452271223068 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 4 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3350617289543152, + 0.03270646184682846, + 0.19190002977848053, + -3.0912935733795166, + 0.3519164025783539, + -0.11575089395046234 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3314257860183716, + 0.009195946156978607, + 0.19172118604183197, + -3.0954105854034424, + 0.3749382495880127, + -0.1575353592634201 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3290116488933563, + -0.002855326747521758, + 0.19259722530841827, + -3.097014904022217, + 0.38993826508522034, + -0.17344027757644653 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot arm is positioned above the sink, approaching the faucet handle from the front. No contact has been made yet, and the gripper remains open as required. The next action is to continue moving forward and downward to make contact with the faucet handle for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3265170753002167, + -0.03077341429889202, + 0.1954294741153717, + -3.1064910888671875, + 0.3857339322566986, + -0.25830787420272827 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector positioned near the handle for contact. No grasping has occurred as the gripper remains open. The next action is to make physical contact with the handle to initiate rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.324491947889328, + -0.033653587102890015, + 0.1987002044916153, + -3.0837912559509277, + 0.3774850070476532, + -0.2673465609550476 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector positioned near the handle for contact. No grasping has occurred as the gripper remains open. The next action is to make physical contact with the handle to initiate rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200509250164032, + -0.013751641847193241, + 0.19966256618499756, + -3.0432322025299072, + 0.36307471990585327, + -0.15690523386001587 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector positioned near the handle for contact. No grasping has occurred as the gripper remains open. The next action is to make physical contact with the handle to initiate rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129814863204956, + 0.007742901332676411, + 0.19576285779476166, + -3.0464324951171875, + 0.3643028438091278, + -0.061169352382421494 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector positioned near the handle for contact. No grasping has occurred as the gripper remains open. The next action is to make physical contact with the handle to initiate rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30441462993621826, + 0.022163039073348045, + 0.20221900939941406, + -3.1018927097320557, + 0.3264752924442291, + -0.03359881415963173 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 473, + 507, + 586, + 640 + ], + "faucet": [ + 469, + 101, + 694, + 549 + ], + "pink utensil": [ + 728, + 562, + 878, + 755 + ], + "yellow sponge": [ + 396, + 338, + 489, + 421 + ], + "dish rack": [ + 354, + 271, + 600, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector positioned near the handle for contact. No grasping has occurred as the gripper remains open. The next action is to make physical contact with the handle to initiate rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.297669917345047, + 0.007981234230101109, + 0.20900116860866547, + 3.12192702293396, + 0.309695839881897, + -0.09770741313695908 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector positioned near the handle for contact. No grasping has occurred as the gripper remains open. The next action is to make physical contact with the handle to initiate rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28193143010139465, + -0.003547671716660261, + 0.22696538269519806, + 3.0978360176086426, + 0.25899195671081543, + -0.1312868893146515 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot has completed the approach and contact phases with the faucet handle. The current frame shows the end-effector in contact with the handle, and the segment-level gripper evidence confirms no grasping occurred. The next action is to rotate the handle to the right via a push/slide motion while maintaining contact, then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26449698209762573, + -0.0010257200337946415, + 0.2380807250738144, + 3.1050124168395996, + 0.20266833901405334, + -0.12008515000343323 + ], + "gripper_value": 0.9759697914123535 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "complete rotation and retreat" + } + ], + "subtask_name": "complete rotation and retreat", + "subtask_reasoning": "The robot has completed the approach and contact phases with the faucet handle. The current frame shows the end-effector in contact with the handle, and the segment-level gripper evidence confirms no grasping occurred. The next action is to rotate the handle to the right via a push/slide motion while maintaining contact, then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000811_ecot.json b/cot/chunk-0000/episode_0000811_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8663709eebc946d7a530fe92d616981e1e03e425 --- /dev/null +++ b/cot/chunk-0000/episode_0000811_ecot.json @@ -0,0 +1,1585 @@ +{ + "task_name": "episode_0000811", + "episode_json": "json/chunk-0000/episode_0000811.json", + "video_path": "videos/chunk-0000/image_0/episode_0000811.mp4", + "instruction": "Move the purple cloth slightly to the left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000811.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.0026550889015197754, + "std": 0.0010914208833128214, + "delta_total": -0.0026550889015197754, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00266, std=0.00109, total_delta=-0.00266). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 15 + ], + [ + 3, + 16, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach purple cloth\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector down toward the purple cloth without grasping, as gripper remains fully open throughout this segment.\"},\n {\"id\": 2, \"name\": \"nudge cloth leftward\", \"start\": 9, \"end\": 15, \"planning\": \"Apply gentle lateral contact to slide the cloth slightly left while maintaining minimal gripper closure — no grasp or lift occurs.\"},\n {\"id\": 3, \"name\": \"retreat from cloth\", \"start\": 16, \"end\": 25, \"planning\": \"Lift and withdraw end-effector away from the cloth after repositioning, with gripper still nearly open and no object held.\"}\n ],\n \"global_plan\": \"Reposition the purple cloth slightly to the left by approaching it, nudging it laterally with contact, then retreating — all without grasping or lifting, consistent with near-constant open gripper state.\",\n \"notes\": \"Gripper evidence across all segments shows negligible closing (max delta < 0.003), so no grasp/pick/place verbs are used. Motion is contact-based sliding followed by retreat. Frame coverage is complete and contiguous from 0 to 25.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach purple cloth", + "start": 0, + "end": 8, + "planning": "Move end-effector down toward the purple cloth without grasping, as gripper remains fully open throughout this segment." + }, + { + "id": 2, + "name": "nudge cloth leftward", + "start": 9, + "end": 15, + "planning": "Apply gentle lateral contact to slide the cloth slightly left while maintaining minimal gripper closure — no grasp or lift occurs." + }, + { + "id": 3, + "name": "retreat from cloth", + "start": 16, + "end": 25, + "planning": "Lift and withdraw end-effector away from the cloth after repositioning, with gripper still nearly open and no object held." + } + ], + "global_plan": "Reposition the purple cloth slightly to the left by approaching it, nudging it laterally with contact, then retreating — all without grasping or lifting, consistent with near-constant open gripper state.", + "notes": "Gripper evidence across all segments shows negligible closing (max delta < 0.003), so no grasp/pick/place verbs are used. Motion is contact-based sliding followed by retreat. Frame coverage is complete and contiguous from 0 to 25." + } + }, + "episode_goal": "Move the purple cloth slightly to the left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2573217451572418, + 0.0610484704375267, + 0.14704658091068268, + 3.1274609565734863, + -0.22345185279846191, + -0.09967957437038422 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is approaching the purple cloth on the wooden surface, with no prior actions completed. The gripper remains open and stationary, indicating no grasp attempt. The next action is to continue moving the end-effector closer to the cloth to prepare for lateral nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 13 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2554191052913666, + 0.05968927964568138, + 0.13850586116313934, + 3.1128928661346436, + -0.20677684247493744, + -0.08592911064624786 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is approaching the purple cloth on the wooden surface, with no prior actions completed. The gripper remains open and stationary, indicating no grasp attempt. The next action is to continue moving the end-effector closer to the cloth to prepare for lateral nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 12 cm, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23914754390716553, + 0.044673606753349304, + 0.1090957298874855, + 3.082540988922119, + -0.25391310453414917, + -0.02206467092037201 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is approaching the purple cloth on the wooden surface, with no prior actions completed. The gripper remains open and stationary, indicating no grasp attempt. The next action is to continue moving the end-effector closer to the cloth to prepare for lateral nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 9 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2310279756784439, + 0.030556822195649147, + 0.09059835225343704, + 3.085562229156494, + -0.30018067359924316, + 0.029265325516462326 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 476, + 296, + 694, + 525 + ], + "purple cloth": [ + 290, + 490, + 599, + 792 + ], + "wooden board": [ + 17, + 243, + 899, + 987 + ], + "scoop": [ + 641, + 401, + 808, + 666 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot is approaching the purple cloth on the wooden surface, with no prior actions completed. The gripper remains open and stationary, indicating no grasp attempt. The next action is to continue moving the end-effector closer to the cloth to prepare for lateral nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23037908971309662, + 0.02441207692027092, + 0.07546671479940414, + 3.079841375350952, + -0.28217947483062744, + 0.02319999597966671 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2355158030986786, + 0.02002815529704094, + 0.0571327731013298, + 3.0774543285369873, + -0.2252868264913559, + 0.005501177161931992 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move left 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24594107270240784, + 0.020667534321546555, + 0.050031471997499466, + 3.0769400596618652, + -0.20426863431930542, + 0.0064343977719545364 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2520754337310791, + 0.016318200156092644, + 0.04463152587413788, + 3.094611644744873, + -0.18843688070774078, + -0.01924307644367218 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 2 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25428077578544617, + 0.01632813923060894, + 0.03366949036717415, + 3.129519462585449, + -0.17418289184570312, + -0.047361109405756 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach purple cloth", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530090808868408, + 0.02014455385506153, + 0.021424468606710434, + -3.117051601409912, + -0.14840735495090485, + -0.05839155614376068 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge cloth leftward", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 8 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2524822950363159, + 0.022486034780740738, + 0.015583240427076817, + -3.1021413803100586, + -0.12972642481327057, + -0.05870481953024864 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge cloth leftward", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 7 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566506266593933, + 0.023060953244566917, + 0.013356683775782585, + -3.1031501293182373, + -0.12879347801208496, + -0.03964819386601448 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge cloth leftward", + "subtask_reasoning": "The robot arm is positioned above the purple cloth on the wooden surface, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway, as the end-effector has moved into proximity. The next action should involve gentle lateral contact to nudge the cloth slightly left without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2705022692680359, + 0.02323370799422264, + 0.010719477199018002, + -3.079911470413208, + -0.13336318731307983, + -0.032887812703847885 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 5 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27965250611305237, + 0.02584383264183998, + 0.010394565761089325, + -3.0665388107299805, + -0.11682215332984924, + -0.04593757912516594 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2825716435909271, + 0.03428155928850174, + 0.011100616306066513, + -3.0813865661621094, + -0.09485422074794769, + -0.023241858929395676 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749551832675934, + 0.06645391881465912, + 0.016559837386012077, + -3.092158794403076, + -0.05648123472929001, + 0.015751013532280922 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "nudge cloth leftward", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.273573637008667, + 0.1165035143494606, + 0.03744104504585266, + 3.1205360889434814, + -0.05897821858525276, + 0.15031102299690247 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 473, + 277, + 706, + 497 + ], + "scoop": [ + 641, + 400, + 808, + 666 + ], + "purple cloth": [ + 209, + 426, + 494, + 684 + ], + "wooden board": [ + 15, + 228, + 898, + 990 + ], + "green ball": [ + 368, + 277, + 402, + 328 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2836744785308838, + 0.16116249561309814, + 0.05063158646225929, + 3.085297107696533, + -0.06380032002925873, + 0.23789332807064056 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 462, + 277, + 705, + 498 + ], + "purple cloth": [ + 208, + 399, + 491, + 683 + ], + "scoop": [ + 641, + 400, + 808, + 666 + ], + "green ball": [ + 320, + 248, + 400, + 364 + ], + "wooden board": [ + 15, + 190, + 898, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28504499793052673, + 0.18918786942958832, + 0.04501982405781746, + 3.057424545288086, + -0.020448246970772743, + 0.2891972064971924 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29576778411865234, + 0.1990143358707428, + 0.06459425389766693, + 3.041896104812622, + -0.04810289293527603, + 0.28919267654418945 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot's end-effector is in contact with the purple cloth on the wooden surface, having already approached it. The gripper remains open with no closing evidence, indicating a nudging action rather than grasping. The next action is to continue applying lateral force to shift the cloth slightly leftward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2949247360229492, + 0.19070234894752502, + 0.10253472626209259, + 3.0549569129943848, + -0.14310091733932495, + 0.2333821952342987 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been nudged leftward and is now in its target position. The gripper remains open and the end-effector is retreating from the cloth area. Next, continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897011935710907, + 0.17782971262931824, + 0.13898441195487976, + 3.0621821880340576, + -0.21170149743556976, + 0.16386385262012482 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been nudged leftward and is now in its target position. The gripper remains open and the end-effector is retreating from the cloth area. Next, continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.284210205078125, + 0.16685141623020172, + 0.1553885042667389, + 3.08829927444458, + -0.24752584099769592, + 0.13361360132694244 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been nudged leftward and is now in its target position. The gripper remains open and the end-effector is retreating from the cloth area. Next, continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804258465766907, + 0.1574191451072693, + 0.15457706153392792, + 3.099370241165161, + -0.22705410420894623, + 0.11555623263120651 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been nudged leftward and is now in its target position. The gripper remains open and the end-effector is retreating from the cloth area. Next, continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797989547252655, + 0.14361074566841125, + 0.14754366874694824, + 3.1037099361419678, + -0.18390542268753052, + 0.07175097614526749 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been nudged leftward and is now in its target position. The gripper remains open and the end-effector is retreating from the cloth area. Next, continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28022727370262146, + 0.1329958140850067, + 0.1414329558610916, + 3.1332733631134033, + -0.15111738443374634, + 0.034552961587905884 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the purple cloth slightly to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach purple cloth" + }, + { + "id": 2, + "subtask": "nudge cloth leftward" + }, + { + "id": 3, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The purple cloth has been nudged leftward and is now in its target position. The gripper remains open and the end-effector is retreating from the cloth area. Next, continue moving away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000815_ecot.json b/cot/chunk-0000/episode_0000815_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e6cc0ca455cb8fd37536282a91b10e2db6f5112f --- /dev/null +++ b/cot/chunk-0000/episode_0000815_ecot.json @@ -0,0 +1,2276 @@ +{ + "task_name": "episode_0000815", + "episode_json": "json/chunk-0000/episode_0000815.json", + "video_path": "videos/chunk-0000/image_0/episode_0000815.mp4", + "instruction": "Move yellow cloth from left side of the table to center.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000815.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.9424148797988892, + "std": 0.43401607871055603, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94241, std=0.43402, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 308, + 308, + 308, + 308, + 308, + 308, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 108, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 7 + ], + [ + 4, + 8, + 13 + ], + [ + 5, + 14, + 22 + ], + [ + 6, + 23, + 23 + ], + [ + 7, + 24, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector from initial position toward the yellow cloth on the left side of the table.\"},\n {\"id\": 2, \"name\": \"grasp cloth\", \"start\": 4, \"end\": 13, \"planning\": \"Close gripper around the yellow cloth and secure hold, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"transport cloth to center\", \"start\": 14, \"end\": 22, \"planning\": \"Lift and move the grasped cloth horizontally toward the center of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release cloth\", \"start\": 23, \"end\": 23, \"planning\": \"Open gripper to release the cloth at the target center location.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 24, \"end\": 32, \"planning\": \"Lift and retract end-effector away from the placed cloth to complete the task.\"}\n ],\n \"global_plan\": \"Approach the yellow cloth on the left, grasp it securely, transport it to the center of the table, release it, and retreat to finish.\",\n \"notes\": \"Gripper evidence supports grasp in segments 3, 5, and 7; segment 1 shows no closing so labeled as approach; segment 6 is a single-frame release event merged into retreat phase for continuity but kept separate for clarity of action.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 3, + "planning": "Move end-effector from initial position toward the yellow cloth on the left side of the table." + }, + { + "id": 2, + "name": "grasp cloth", + "start": 4, + "end": 13, + "planning": "Close gripper around the yellow cloth and secure hold, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "transport cloth to center", + "start": 14, + "end": 22, + "planning": "Lift and move the grasped cloth horizontally toward the center of the table while maintaining grip." + }, + { + "id": 4, + "name": "release cloth", + "start": 23, + "end": 23, + "planning": "Open gripper to release the cloth at the target center location." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 24, + "end": 32, + "planning": "Lift and retract end-effector away from the placed cloth to complete the task." + } + ], + "global_plan": "Approach the yellow cloth on the left, grasp it securely, transport it to the center of the table, release it, and retreat to finish.", + "notes": "Gripper evidence supports grasp in segments 3, 5, and 7; segment 1 shows no closing so labeled as approach; segment 6 is a single-frame release event merged into retreat phase for continuity but kept separate for clarity of action." + } + }, + "episode_goal": "Move the yellow cloth from the left side of the table to the center of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38370800018310547, + 0.02352181077003479, + 0.1127001941204071, + -3.141505479812622, + -0.20541109144687653, + 0.36595675349235535 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the yellow cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 7 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37954333424568176, + 0.023157654330134392, + 0.09787346422672272, + -3.1284804344177246, + -0.1642831265926361, + 0.3624121844768524 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move back 5 cm, move left 7 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35759207606315613, + 0.03697802126407623, + 0.08847566694021225, + -3.0797367095947266, + -0.11803171038627625, + 0.33360555768013 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 7 cm, keep gripper open; then move back 5 cm, move left 5 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33446598052978516, + 0.06645051389932632, + 0.0985933467745781, + -3.061016798019409, + -0.1212335079908371, + 0.3380967080593109 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, keep gripper open; then move back 4 cm, move left 3 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30017799139022827, + 0.10220157355070114, + 0.08814932405948639, + -3.020813465118408, + -0.07735826075077057, + 0.33395564556121826 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2730267643928528, + 0.13586083054542542, + 0.0909869596362114, + -3.014653444290161, + -0.08171773701906204, + 0.3979015052318573 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 709, + 235, + 817, + 528 + ], + "yellow cloth": [ + 89, + 380, + 356, + 649 + ], + "wooden countertop": [ + 12, + 239, + 894, + 983 + ], + "metal bowl": [ + 326, + 212, + 538, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24784885346889496, + 0.16515056788921356, + 0.07788903266191483, + -2.986150026321411, + -0.0699668675661087, + 0.44449856877326965 + ], + "gripper_value": 0.9461179971694946 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23668649792671204, + 0.17462259531021118, + 0.06218036264181137, + -2.988941192626953, + -0.06423009932041168, + 0.4703236222267151 + ], + "gripper_value": 0.6711689233779907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible on the left side. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2328544408082962, + 0.18099208176136017, + 0.055017679929733276, + -2.977553129196167, + -0.10127714276313782, + 0.4833618402481079 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 8 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23337595164775848, + 0.1850486695766449, + 0.03172110766172409, + -2.9560961723327637, + -0.10694987326860428, + 0.47585153579711914 + ], + "gripper_value": 0.15872089564800262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 9 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2371172457933426, + 0.17675583064556122, + 0.014243913814425468, + -3.0171926021575928, + -0.07731793075799942, + 0.48102864623069763 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24837377667427063, + 0.16825531423091888, + 0.010981151834130287, + -2.999478816986084, + -0.0959155410528183, + 0.42120084166526794 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530108094215393, + 0.1537490040063858, + 0.00894893053919077, + -3.0366628170013428, + -0.10687153786420822, + 0.40196850895881653 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 11 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2564777433872223, + 0.1325511634349823, + 0.008311203680932522, + -3.02280592918396, + -0.10333265364170074, + 0.3265533745288849 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move right 10 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2537294626235962, + 0.115671306848526, + 0.008406197652220726, + -3.0283291339874268, + -0.09986182302236557, + 0.2878495752811432 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 3 cm, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.251852422952652, + 0.09185829758644104, + 0.00887969322502613, + -3.0360488891601562, + -0.08110497891902924, + 0.2384168654680252 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 709, + 236, + 816, + 528 + ], + "yellow cloth": [ + 182, + 430, + 474, + 709 + ], + "wooden countertop": [ + 12, + 260, + 894, + 985 + ], + "grey cabinet": [ + 143, + 637, + 748, + 996 + ], + "metal bowl": [ + 315, + 210, + 538, + 413 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 3 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525777518749237, + 0.07538613677024841, + 0.00917965080589056, + -3.0476081371307373, + -0.07843519747257233, + 0.21084260940551758 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 3 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2520903944969177, + 0.05423346161842346, + 0.009580336511135101, + -3.0620930194854736, + -0.06629454344511032, + 0.1736295074224472 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot has approached the yellow cloth on the left side of the table. The gripper is currently open and positioned above the cloth, with segment-level evidence indicating a closing action is underway. The next immediate action is to close the gripper to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 3 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25249749422073364, + 0.03718181699514389, + 0.010277872905135155, + -3.0862550735473633, + -0.06389987468719482, + 0.14598965644836426 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot is currently holding the yellow cloth and moving it across the table surface toward the center. The gripper remains closed, confirming the cloth is secured during transport. The next action is to continue moving the cloth until it reaches the central target area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2526828348636627, + 0.024159207940101624, + 0.009667784906923771, + -3.0934324264526367, + -0.06011714041233063, + 0.12720589339733124 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 709, + 235, + 817, + 529 + ], + "yellow cloth": [ + 307, + 510, + 622, + 821 + ], + "wooden countertop": [ + 12, + 188, + 895, + 990 + ], + "grey cabinet": [ + 143, + 639, + 772, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot is currently holding the yellow cloth and moving it across the table surface toward the center. The gripper remains closed, confirming the cloth is secured during transport. The next action is to continue moving the cloth until it reaches the central target area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521137595176697, + 0.013430221937596798, + 0.009516474790871143, + -3.1061317920684814, + -0.05257777124643326, + 0.13270863890647888 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot is currently holding the yellow cloth and moving it across the table surface toward the center. The gripper remains closed, confirming the cloth is secured during transport. The next action is to continue moving the cloth until it reaches the central target area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move left 4 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2498633712530136, + 0.006352163851261139, + 0.012087098322808743, + -3.101986885070801, + -0.04215843975543976, + 0.1316186487674713 + ], + "gripper_value": 0.08397578448057175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot is currently holding the yellow cloth and moving it across the table surface toward the center. The gripper remains closed, confirming the cloth is secured during transport. The next action is to continue moving the cloth until it reaches the central target area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move left 6 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25343063473701477, + 0.010593229904770851, + 0.025659779086709023, + -3.108024835586548, + -0.07028456032276154, + 0.1438535749912262 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "transport cloth to center", + "subtask_reasoning": "The robot is currently holding the yellow cloth and moving it across the table surface toward the center. The gripper remains closed, confirming the cloth is secured during transport. The next action is to continue moving the cloth until it reaches the central target area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.254245787858963, + 0.017542453482747078, + 0.04072612524032593, + -3.100867748260498, + -0.09569080919027328, + 0.1533452421426773 + ], + "gripper_value": 0.48704639077186584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The yellow cloth is already positioned at the center of the table, and the gripper is open above it, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper open; then move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25684431195259094, + 0.022782592102885246, + 0.06365623325109482, + -3.119959592819214, + -0.14850488305091858, + 0.18378803133964539 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow bottle": [ + 709, + 236, + 817, + 528 + ], + "wooden countertop": [ + 8, + 188, + 894, + 988 + ], + "yellow cloth": [ + 345, + 502, + 663, + 853 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is already positioned at the center of the table, and the gripper is open above it, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.26019707322120667, + 0.027191415429115295, + 0.08204638212919235, + -3.140944719314575, + -0.1628197580575943, + 0.22557024657726288 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is already positioned at the center of the table, and the gripper is open above it, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617146670818329, + 0.036133937537670135, + 0.09149801731109619, + -3.1396772861480713, + -0.178249329328537, + 0.24839113652706146 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is already positioned at the center of the table, and the gripper is open above it, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678329646587372, + 0.0442691296339035, + 0.1023147851228714, + -3.1099348068237305, + -0.1940450519323349, + 0.23988433182239532 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is already positioned at the center of the table, and the gripper is open above it, indicating the release action is complete. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27203476428985596, + 0.057883795350790024, + 0.11050423979759216, + -3.1331703662872314, + -0.2122068703174591, + 0.2899687886238098 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned in the center of the table, indicating the transport task is complete. The gripper is open and the end-effector is elevated above the cloth, confirming the release has occurred. The robot is now retreating from the cloth to finish the operation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27798253297805786, + 0.05838716775178909, + 0.12081929296255112, + -3.141483783721924, + -0.223356693983078, + 0.28233081102371216 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned in the center of the table, indicating the transport task is complete. The gripper is open and the end-effector is elevated above the cloth, confirming the release has occurred. The robot is now retreating from the cloth to finish the operation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792217433452606, + 0.05936684459447861, + 0.1253037452697754, + 3.137768030166626, + -0.2186385989189148, + 0.3007780909538269 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned in the center of the table, indicating the transport task is complete. The gripper is open and the end-effector is elevated above the cloth, confirming the release has occurred. The robot is now retreating from the cloth to finish the operation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28019019961357117, + 0.07987384498119354, + 0.13480812311172485, + 3.1311392784118652, + -0.23975805938243866, + 0.38405993580818176 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned in the center of the table, indicating the transport task is complete. The gripper is open and the end-effector is elevated above the cloth, confirming the release has occurred. The robot is now retreating from the cloth to finish the operation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2750943601131439, + 0.09705111384391785, + 0.13368818163871765, + -3.1362688541412354, + -0.2328605204820633, + 0.44597452878952026 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth from the left side of the table to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "transport cloth to center" + }, + { + "id": 4, + "subtask": "release cloth" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The yellow cloth is positioned in the center of the table, indicating the transport task is complete. The gripper is open and the end-effector is elevated above the cloth, confirming the release has occurred. The robot is now retreating from the cloth to finish the operation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000816_ecot.json b/cot/chunk-0000/episode_0000816_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..26b53a6e07df7ba7c8412e6c190b9e8d2dee1db0 --- /dev/null +++ b/cot/chunk-0000/episode_0000816_ecot.json @@ -0,0 +1,1979 @@ +{ + "task_name": "episode_0000816", + "episode_json": "json/chunk-0000/episode_0000816.json", + "video_path": "videos/chunk-0000/image_0/episode_0000816.mp4", + "instruction": "Close low fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000816.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 0, + 0, + 100, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 4 + ], + [ + 3, + 5, + 6 + ], + [ + 4, + 7, + 7 + ], + [ + 5, + 8, + 11 + ], + [ + 6, + 12, + 16 + ], + [ + 7, + 17, + 17 + ], + [ + 8, + 18, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge door\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the open low fridge door to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make initial contact\", \"start\": 4, \"end\": 4, \"planning\": \"Establish light contact with the inner edge of the fridge door to begin closing motion.\"},\n {\"id\": 3, \"name\": \"nudge door inward\", \"start\": 5, \"end\": 6, \"planning\": \"Apply gentle inward force to start swinging the door closed using body contact.\"},\n {\"id\": 4, \"name\": \"reposition for push\", \"start\": 7, \"end\": 11, \"planning\": \"Adjust arm posture and position to align for effective pushing along the door’s arc.\"},\n {\"id\": 5, \"name\": \"push door closed\", \"start\": 12, \"end\": 16, \"planning\": \"Drive the door shut by pushing against its outer surface while maintaining contact.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 17, \"end\": 26, \"planning\": \"Withdraw end-effector from contact and move away after confirming door is fully closed.\"}\n ],\n \"global_plan\": \"Close the low fridge door by approaching, making contact, nudging it inward, repositioning, pushing it fully shut, then releasing and retreating — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes; all actions are contact-based (nudge, push, release). Segment boundaries respected where meaningful; micro-motions merged into natural phases. Final retreat includes settling motion post-closure.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge door", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the open low fridge door to prepare for contact." + }, + { + "id": 2, + "name": "make initial contact", + "start": 4, + "end": 4, + "planning": "Establish light contact with the inner edge of the fridge door to begin closing motion." + }, + { + "id": 3, + "name": "nudge door inward", + "start": 5, + "end": 6, + "planning": "Apply gentle inward force to start swinging the door closed using body contact." + }, + { + "id": 4, + "name": "reposition for push", + "start": 7, + "end": 11, + "planning": "Adjust arm posture and position to align for effective pushing along the door’s arc." + }, + { + "id": 5, + "name": "push door closed", + "start": 12, + "end": 16, + "planning": "Drive the door shut by pushing against its outer surface while maintaining contact." + }, + { + "id": 6, + "name": "release and retreat", + "start": 17, + "end": 26, + "planning": "Withdraw end-effector from contact and move away after confirming door is fully closed." + } + ], + "global_plan": "Close the low fridge door by approaching, making contact, nudging it inward, repositioning, pushing it fully shut, then releasing and retreating — all without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes; all actions are contact-based (nudge, push, release). Segment boundaries respected where meaningful; micro-motions merged into natural phases. Final retreat includes settling motion post-closure." + } + }, + "episode_goal": "Close the low fridge door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30892202258110046, + 0.054818686097860336, + -0.0035367743112146854, + -3.043943166732788, + -0.16138866543769836, + 0.13248838484287262 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open low fridge door with the gripper open and no contact made yet. No part of the subtask has been completed. The next action should be to move the end effector closer to the fridge door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 4 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30123624205589294, + 0.05442024767398834, + -0.011401181109249592, + -3.051713228225708, + -0.12304504960775375, + 0.13653787970542908 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open low fridge door with the gripper fully open and no contact made yet. No actions have been completed toward closing the door. The next step is to move the end effector closer to the door to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 5 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28580597043037415, + 0.06541678309440613, + 0.007920820266008377, + -3.106088399887085, + -0.10469787567853928, + 0.10922127962112427 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open low fridge door with the gripper fully open and no contact made yet. No actions have been completed toward closing the door. The next step is to move the end effector closer to the door to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 5 cm, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2700484097003937, + 0.08099577575922012, + 0.039483945816755295, + -3.133634090423584, + -0.15459194779396057, + 0.1256757378578186 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plate": [ + 462, + 851, + 602, + 996 + ], + "red cup": [ + 624, + 534, + 706, + 717 + ], + "yellow object": [ + 503, + 913, + 566, + 996 + ], + "red chili pepper": [ + 490, + 529, + 605, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open low fridge door with the gripper fully open and no contact made yet. No actions have been completed toward closing the door. The next step is to move the end effector closer to the door to initiate contact for nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2575303912162781, + 0.08401626348495483, + 0.06071797385811806, + 3.1351404190063477, + -0.19063138961791992, + 0.10742972791194916 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make initial contact", + "subtask_reasoning": "The robot has approached the open low fridge door and is now positioned near its edge. The gripper remains open, consistent with non-grasping contact. The next action is to make gentle physical contact with the door to begin nudging it inward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24831290543079376, + 0.10109826177358627, + 0.06445007026195526, + -3.1162972450256348, + -0.17755542695522308, + 0.14077211916446686 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "nudge door inward", + "subtask_reasoning": "The robot has approached the low fridge door and made initial contact with the gripper open. The current frame shows the end-effector near the door edge, consistent with preparing to nudge it inward. The next action is to apply gentle forward motion to begin closing the door without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 5, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24078531563282013, + 0.10654973983764648, + 0.05108623951673508, + -3.1333014965057373, + -0.15238884091377258, + 0.17156533896923065 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "nudge door inward", + "subtask_reasoning": "The robot has approached the low fridge door and made initial contact with the gripper open. The current frame shows the end-effector near the door edge, consistent with preparing to nudge it inward. The next action is to apply gentle forward motion to begin closing the door without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move right 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 5, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23701418936252594, + 0.10239157825708389, + 0.040243059396743774, + 3.135803461074829, + -0.1743272989988327, + 0.20458818972110748 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for push", + "subtask_reasoning": "The robot has approached the low fridge door and made initial contact with the gripper open. The current frame shows the end-effector near the door edge, consistent with preparing to nudge it inward. The next action is to apply gentle forward motion to begin closing the door without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23811903595924377, + 0.09091738611459732, + 0.019687142223119736, + -3.1330180168151855, + -0.15841388702392578, + 0.236710786819458 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for push", + "subtask_reasoning": "The robot has approached the low fridge door and made initial contact with the gripper open. The current frame shows the end-effector near the door edge, consistent with preparing to nudge it inward. The next action is to apply gentle forward motion to begin closing the door without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24346938729286194, + 0.07725443691015244, + 0.0023447987623512745, + -3.115086317062378, + -0.1517532765865326, + 0.2697300612926483 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for push", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door with the gripper open, having completed initial contact. The current subtask involves repositioning to prepare for a full push; the next action is to adjust the end-effector's position to apply inward force on the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24880416691303253, + 0.06376652419567108, + -0.006543759722262621, + -3.117387056350708, + -0.16080474853515625, + 0.28959834575653076 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for push", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door with the gripper open, having completed initial contact. The current subtask involves repositioning to prepare for a full push; the next action is to adjust the end-effector's position to apply inward force on the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2541044056415558, + 0.049870193004608154, + -0.010522594675421715, + -3.1231768131256104, + -0.1351192444562912, + 0.30323129892349243 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for push", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door with the gripper open, having completed initial contact. The current subtask involves repositioning to prepare for a full push; the next action is to adjust the end-effector's position to apply inward force on the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2614346146583557, + 0.03545815125107765, + -0.004460460506379604, + 3.1298882961273193, + -0.13212227821350098, + 0.3102547228336334 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door with the gripper open, having completed initial contact. The current subtask involves repositioning to prepare for a full push; the next action is to adjust the end-effector's position to apply inward force on the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 7 cm, move right 3 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26591920852661133, + 0.027623724192380905, + 0.024934915825724602, + 3.0744991302490234, + -0.18310107290744781, + 0.28414225578308105 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door with the gripper open, having completed initial contact. The current subtask involves repositioning to prepare for a full push; the next action is to adjust the end-effector's position to apply inward force on the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 9 cm, move right 3 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25931596755981445, + 0.031232252717018127, + 0.04288400709629059, + 3.0662648677825928, + -0.19991271197795868, + 0.23113472759723663 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open low fridge door, having already approached and initiated closure. The gripper remains open throughout, consistent with non-grasping push behavior. Next, continue applying gentle forward pressure to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24371129274368286, + 0.042423032224178314, + 0.035402581095695496, + 3.089217185974121, + -0.16055390238761902, + 0.15468116104602814 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open low fridge door, having already approached and initiated closure. The gripper remains open throughout, consistent with non-grasping push behavior. Next, continue applying gentle forward pressure to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 9 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23176977038383484, + 0.048441141843795776, + 0.015279698185622692, + 3.1356801986694336, + -0.19666554033756256, + 0.06516186147928238 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plate": [ + 458, + 887, + 607, + 996 + ], + "red chili pepper": [ + 518, + 528, + 606, + 608 + ] + } + } + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the partially open low fridge door, having already approached and initiated closure. The gripper remains open throughout, consistent with non-grasping push behavior. Next, continue applying gentle forward pressure to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move forward 7 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23047496378421783, + 0.04801318794488907, + -0.010043947957456112, + -3.129574775695801, + -0.23156630992889404, + 0.01745816506445408 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is in contact with the partially open low fridge door, having already approached and initiated closure. The gripper remains open throughout, consistent with non-grasping push behavior. Next, continue applying gentle forward pressure to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23785400390625, + 0.04432709142565727, + -0.03026016801595688, + 3.11661958694458, + -0.26050522923469543, + -0.002569501521065831 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is in contact with the partially open low fridge door, having already approached and initiated closure. The gripper remains open throughout, consistent with non-grasping push behavior. Next, continue applying gentle forward pressure to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585870027542114, + 0.040761549025774, + -0.04348628968000412, + 3.0999345779418945, + -0.26429128646850586, + 0.08534872531890869 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is in contact with the partially open low fridge door, having already approached and initiated closure. The gripper remains open throughout, consistent with non-grasping push behavior. Next, continue applying gentle forward pressure to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2775960862636566, + 0.03258581459522247, + -0.047708358615636826, + 3.0974931716918945, + -0.2628662586212158, + 0.12836433947086334 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 501, + 911, + 566, + 996 + ], + "red chili pepper": [ + 628, + 527, + 710, + 711 + ], + "blue plate": [ + 462, + 865, + 585, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is in contact with the partially open low fridge door, having already approached and initiated closure. The gripper remains open throughout, consistent with non-grasping push behavior. Next, continue applying gentle forward pressure to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29054179787635803, + 0.026054024696350098, + -0.049240365624427795, + 3.107618808746338, + -0.2636929750442505, + 0.14812831580638885 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned near the partially open low fridge door with the gripper fully open and no contact. The door has been nudged inward in prior steps but remains ajar. The next action is to retreat the arm backward to complete the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3016863763332367, + 0.02078050933778286, + -0.05291620269417763, + 3.1187257766723633, + -0.2737725079059601, + 0.17011773586273193 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned near the partially open low fridge door with the gripper fully open and no contact. The door has been nudged inward in prior steps but remains ajar. The next action is to retreat the arm backward to complete the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162863850593567, + 0.018367992714047432, + -0.05356748402118683, + 3.117304563522339, + -0.29791274666786194, + 0.19223342835903168 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned near the partially open low fridge door with the gripper fully open and no contact. The door has been nudged inward in prior steps but remains ajar. The next action is to retreat the arm backward to complete the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229232728481293, + 0.016913168132305145, + -0.058049727231264114, + 3.120499610900879, + -0.29858505725860596, + 0.20675835013389587 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned near the partially open low fridge door with the gripper fully open and no contact. The door has been nudged inward in prior steps but remains ajar. The next action is to retreat the arm backward to complete the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3221810460090637, + 0.018476596102118492, + -0.06211768463253975, + 3.128476142883301, + -0.29106277227401733, + 0.2185831367969513 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned near the partially open low fridge door with the gripper fully open and no contact. The door has been nudged inward in prior steps but remains ajar. The next action is to retreat the arm backward to complete the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2996646463871002, + 0.021488580852746964, + -0.062378767877817154, + 3.126732110977173, + -0.25194981694221497, + 0.17831507325172424 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "nudge door inward" + }, + { + "id": 4, + "subtask": "reposition for push" + }, + { + "id": 5, + "subtask": "push door closed" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot arm is positioned near the partially open low fridge door with the gripper fully open and no contact. The door has been nudged inward in prior steps but remains ajar. The next action is to retreat the arm backward to complete the release and retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 17, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000817_ecot.json b/cot/chunk-0000/episode_0000817_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..86eb2977c5d02dbca73325eb77fe5f8ea37fb3f3 --- /dev/null +++ b/cot/chunk-0000/episode_0000817_ecot.json @@ -0,0 +1,1335 @@ +{ + "task_name": "episode_0000817", + "episode_json": "json/chunk-0000/episode_0000817.json", + "video_path": "videos/chunk-0000/image_0/episode_0000817.mp4", + "instruction": "Close large4fbox flaps.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000817.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006708502769470215, + "std": 0.0001497987686889246, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00015, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box flap\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the open flap of the large4fbox while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"make contact with flap\", \"start\": 5, \"end\": 8, \"planning\": \"Position gripper to make gentle contact with the box flap without closing, preparing to push it closed.\"},\n {\"id\": 3, \"name\": \"push flap inward\", \"start\": 9, \"end\": 14, \"planning\": \"Apply controlled forward motion to nudge the flap toward the closed position using gripper as a pusher.\"},\n {\"id\": 4, \"name\": \"reposition for final closure\", \"start\": 15, \"end\": 17, \"planning\": \"Adjust end-effector pose to align with remaining gap in flap for final sealing motion.\"},\n {\"id\": 5, \"name\": \"complete flap closure\", \"start\": 18, \"end\": 18, \"planning\": \"Execute final small push to fully close the flap, confirmed by visual alignment and minimal motion at endpoint.\"}\n ],\n \"global_plan\": \"Close the large4fbox flaps by approaching, contacting, pushing, repositioning, and finally completing closure — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes (value ~0.99681), so no grasp/lift/place actions are used. All motions are contact-based pushes or nudges. Segment boundaries respected but split into finer phases for natural manipulation flow.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box flap", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the open flap of the large4fbox while maintaining open gripper." + }, + { + "id": 2, + "name": "make contact with flap", + "start": 5, + "end": 8, + "planning": "Position gripper to make gentle contact with the box flap without closing, preparing to push it closed." + }, + { + "id": 3, + "name": "push flap inward", + "start": 9, + "end": 14, + "planning": "Apply controlled forward motion to nudge the flap toward the closed position using gripper as a pusher." + }, + { + "id": 4, + "name": "reposition for final closure", + "start": 15, + "end": 17, + "planning": "Adjust end-effector pose to align with remaining gap in flap for final sealing motion." + }, + { + "id": 5, + "name": "complete flap closure", + "start": 18, + "end": 18, + "planning": "Execute final small push to fully close the flap, confirmed by visual alignment and minimal motion at endpoint." + } + ], + "global_plan": "Close the large4fbox flaps by approaching, contacting, pushing, repositioning, and finally completing closure — all without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes (value ~0.99681), so no grasp/lift/place actions are used. All motions are contact-based pushes or nudges. Segment boundaries respected but split into finer phases for natural manipulation flow." + } + }, + "episode_goal": "Close the flaps of the large4fbox.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2286285012960434, + -0.04551052674651146, + 0.17912228405475616, + -2.997101306915283, + -0.061716604977846146, + 0.22723323106765747 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its gripper open and approaching the box flap. No contact or closure has occurred yet. The next action should involve moving closer to make contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 8 cm, tilt right 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22848565876483917, + -0.048643626272678375, + 0.17034266889095306, + -3.0001628398895264, + -0.04215652495622635, + 0.22300828993320465 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its gripper open and approaching the box flap. No contact or closure has occurred yet. The next action should involve moving closer to make contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22913780808448792, + -0.06689320504665375, + 0.15216368436813354, + -3.028684377670288, + -0.030917931348085403, + 0.17372752726078033 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its gripper open and approaching the box flap. No contact or closure has occurred yet. The next action should involve moving closer to make contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22789911925792694, + -0.06964623928070068, + 0.13271348178386688, + -3.0341391563415527, + -0.01802496239542961, + 0.19222040474414825 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its gripper open and approaching the box flap. No contact or closure has occurred yet. The next action should involve moving closer to make contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 4 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2272515892982483, + -0.07764139026403427, + 0.11228009313344955, + -3.074148178100586, + -0.06429614871740341, + 0.18610960245132446 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its gripper open and approaching the box flap. No contact or closure has occurred yet. The next action should involve moving closer to make contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 5 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23352394998073578, + -0.08191623538732529, + 0.09868835657835007, + -3.0995941162109375, + -0.13166896998882294, + 0.1827499270439148 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the large4fbox with its gripper open and approaching the box flap. No contact or closure has occurred yet. The next action should involve moving closer to make contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24474342167377472, + -0.0872168242931366, + 0.08783373981714249, + -3.1381261348724365, + -0.20052440464496613, + 0.1721992939710617 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the large4fbox flap and is now positioned directly above it with the gripper open. No contact has been made yet, and the flap remains in its initial open state. The next action should be to lower the end-effector slightly to make physical contact with the flap surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24943089485168457, + -0.0945066288113594, + 0.07929538190364838, + 3.1107752323150635, + -0.2857397794723511, + 0.14996646344661713 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 28, + 918, + 124, + 995 + ], + "green dish": [ + 804, + 518, + 994, + 718 + ], + "burners": [ + 231, + 190, + 393, + 380 + ], + "cardboard box": [ + 295, + 9, + 994, + 527 + ], + "toy kitchen stove": [ + 111, + 149, + 983, + 982 + ] + } + } + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the large4fbox flap and is now positioned directly above it with the gripper open. No contact has been made yet, and the flap remains in its initial open state. The next action should be to lower the end-effector slightly to make physical contact with the flap surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25636744499206543, + -0.09874815493822098, + 0.08123231679201126, + 3.120753288269043, + -0.3574399948120117, + 0.10894564539194107 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the large4fbox flap and is now positioned directly above it with the gripper open. No contact has been made yet, and the flap remains in its initial open state. The next action should be to lower the end-effector slightly to make physical contact with the flap surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 6 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26265811920166016, + -0.09724333882331848, + 0.08601077646017075, + -3.096118927001953, + -0.4139138162136078, + 0.03187858313322067 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "push flap inward", + "subtask_reasoning": "The robot has approached the large4fbox flap and is now positioned directly above it with the gripper open. No contact has been made yet, and the flap remains in its initial open state. The next action should be to lower the end-effector slightly to make physical contact with the flap surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27387890219688416, + -0.09519560635089874, + 0.09891022741794586, + -3.040097713470459, + -0.4510219991207123, + -0.033254992216825485 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "push flap inward", + "subtask_reasoning": "The robot has approached the large4fbox flap and is now positioned directly above it with the gripper open. No contact has been made yet, and the flap remains in its initial open state. The next action should be to lower the end-effector slightly to make physical contact with the flap surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28976550698280334, + -0.08489052206277847, + 0.11854889243841171, + -2.957385301589966, + -0.47034400701522827, + -0.10995951294898987 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 28, + 918, + 123, + 994 + ], + "green dish": [ + 802, + 519, + 994, + 716 + ], + "sink basin": [ + 749, + 431, + 995, + 771 + ], + "toy kitchen stove": [ + 110, + 138, + 987, + 969 + ] + } + } + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "push flap inward", + "subtask_reasoning": "The robot is in contact with the large4fbox flap, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying inward force to fold the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30247417092323303, + -0.07176327705383301, + 0.13543100655078888, + -2.8634066581726074, + -0.46443551778793335, + -0.17783668637275696 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "push flap inward", + "subtask_reasoning": "The robot is in contact with the large4fbox flap, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying inward force to fold the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30940917134284973, + -0.06205756962299347, + 0.1469394415616989, + -2.8097760677337646, + -0.44173043966293335, + -0.2351839691400528 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "push flap inward", + "subtask_reasoning": "The robot is in contact with the large4fbox flap, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying inward force to fold the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.318394273519516, + -0.051286932080984116, + 0.15674152970314026, + -2.7544119358062744, + -0.41739359498023987, + -0.2972349524497986 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "push flap inward", + "subtask_reasoning": "The robot is in contact with the large4fbox flap, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying inward force to fold the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32363390922546387, + -0.04101283848285675, + 0.16295403242111206, + -2.6912450790405273, + -0.39158353209495544, + -0.36228182911872864 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "reposition for final closure", + "subtask_reasoning": "The robot is in contact with the large4fbox flap, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue applying inward force to fold the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.331265389919281, + -0.028992624953389168, + 0.16653971374034882, + -2.623044729232788, + -0.38657256960868835, + -0.4303017854690552 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "reposition for final closure", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector close to the flap, having already made contact. The gripper remains open, indicating no grasping has occurred. The next likely action is to adjust the end-effector's position slightly to ensure proper alignment for pushing the flap closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34349364042282104, + -0.013366356492042542, + 0.16879919171333313, + -2.5744268894195557, + -0.413626104593277, + -0.4668208956718445 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "reposition for final closure", + "subtask_reasoning": "The robot is positioned near the large4fbox with its end-effector close to the flap, having already made contact. The gripper remains open, indicating no grasping has occurred. The next likely action is to adjust the end-effector's position slightly to ensure proper alignment for pushing the flap closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470889925956726, + 0.0036309442948549986, + 0.15831661224365234, + -2.5482165813446045, + -0.3999316990375519, + -0.4679877758026123 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the flaps of the large4fbox." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap inward" + }, + { + "id": 4, + "subtask": "reposition for final closure" + }, + { + "id": 5, + "subtask": "complete flap closure" + } + ], + "subtask_name": "complete flap closure", + "subtask_reasoning": "The robot's end-effector is in contact with the large4fbox flap, which is partially closed. Previous steps involved approaching and making contact; now the flap needs final pushing to fully close. The gripper remains open, confirming no grasping—only contact-based pushing is occurring." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000818_ecot.json b/cot/chunk-0000/episode_0000818_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..028a0ea3af2ad5008b1b1ffd4f04f081bb516af9 --- /dev/null +++ b/cot/chunk-0000/episode_0000818_ecot.json @@ -0,0 +1,1192 @@ +{ + "task_name": "episode_0000818", + "episode_json": "json/chunk-0000/episode_0000818.json", + "video_path": "videos/chunk-0000/image_0/episode_0000818.mp4", + "instruction": "Put the blue cloth between the two cans and the banana.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000818.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033228397369384766, + "std": 0.0013213078491389751, + "delta_total": -0.0026550889015197754, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00332, std=0.00132, total_delta=-0.00266). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the blue cloth located near the back of the table, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 6, \"end\": 10, \"planning\": \"Lower and adjust gripper to make gentle contact with the blue cloth without grasping, as gripper remains open.\"},\n {\"id\": 3, \"name\": \"reposition cloth forward\", \"start\": 11, \"end\": 14, \"planning\": \"Drag or slide the blue cloth forward across the table surface toward the space between the cans and banana.\"},\n {\"id\": 4, \"name\": \"finalize cloth placement\", \"start\": 15, \"end\": 18, \"planning\": \"Fine-tune the position of the cloth to rest neatly between the two cans and the banana, then retreat slightly.\"}\n ],\n \"global_plan\": \"The robot approaches the blue cloth, makes contact without grasping, drags it forward into the target zone between the cans and banana, and finalizes its position before retreating.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in either segment; all actions are contact-based (approach, contact, drag, reposition) without grasp or lift. Frame coverage is complete and contiguous from 0 to 18.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the blue cloth located near the back of the table, preparing for contact." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 6, + "end": 10, + "planning": "Lower and adjust gripper to make gentle contact with the blue cloth without grasping, as gripper remains open." + }, + { + "id": 3, + "name": "reposition cloth forward", + "start": 11, + "end": 14, + "planning": "Drag or slide the blue cloth forward across the table surface toward the space between the cans and banana." + }, + { + "id": 4, + "name": "finalize cloth placement", + "start": 15, + "end": 18, + "planning": "Fine-tune the position of the cloth to rest neatly between the two cans and the banana, then retreat slightly." + } + ], + "global_plan": "The robot approaches the blue cloth, makes contact without grasping, drags it forward into the target zone between the cans and banana, and finalizes its position before retreating.", + "notes": "Gripper evidence confirms no meaningful closing in either segment; all actions are contact-based (approach, contact, drag, reposition) without grasp or lift. Frame coverage is complete and contiguous from 0 to 18." + } + }, + "episode_goal": "Place the blue cloth between the two cans and the banana.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559300363063812, + -0.028423789888620377, + 0.07888244837522507, + -3.1225106716156006, + -0.031388379633426666, + -0.022929131984710693 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cloth visible in the background near the cans. No movement or contact has occurred yet as this is the initial frame of the approach subtask. The next action should be to move the end-effector closer to the blue cloth to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 18 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2546862065792084, + -0.027074063196778297, + 0.069753497838974, + -3.118642568588257, + 0.006935454905033112, + -0.025975067168474197 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot arm is positioned above the table with the blue cloth visible in the background near the cans. No movement or contact has occurred yet as this is the initial frame of the approach subtask. The next action should be to move the end-effector closer to the blue cloth to prepare for dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 17 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28803572058677673, + 0.013691803440451622, + 0.06764494627714157, + -3.1108312606811523, + 0.014716229401528835, + 0.04223736375570297 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the cloth positioned between the cans and banana. No contact or grasp has occurred yet. The next action is to continue moving the end effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 13 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167383074760437, + 0.05127711966633797, + 0.06309324502944946, + -3.114971876144409, + 0.0032493562903255224, + 0.07556882500648499 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the cloth positioned between the cans and banana. No contact or grasp has occurred yet. The next action is to continue moving the end effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34279924631118774, + 0.09280785173177719, + 0.05890143662691116, + -3.0990426540374756, + -0.022331688553094864, + 0.10758500546216965 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the cloth positioned between the cans and banana. No contact or grasp has occurred yet. The next action is to continue moving the end effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 12 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3594648540019989, + 0.12386074662208557, + 0.057408787310123444, + -3.0698442459106445, + -0.06349504739046097, + 0.13770416378974915 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "approach blue cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the cloth positioned between the cans and banana. No contact or grasp has occurred yet. The next action is to continue moving the end effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 15 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3725077211856842, + 0.14780591428279877, + 0.04787133261561394, + -3.084449052810669, + -0.08800391852855682, + 0.17405129969120026 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the cloth positioned between the cans and banana. No contact or grasp has occurred yet. The next action is to continue moving the end effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 15 cm, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3872714936733246, + 0.16340123116970062, + 0.03923458978533745, + -3.1110119819641113, + -0.10975214093923569, + 0.20512954890727997 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the blue cloth on the table, with the cloth positioned between the cans and banana. No contact or grasp has occurred yet. The next action is to continue moving the end effector closer to the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 15 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4012732207775116, + 0.16998988389968872, + 0.02470492199063301, + -3.1135098934173584, + -0.1025167778134346, + 0.2177521288394928 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it, as indicated by the gripper value and position. The cloth remains stationary on the table between the cans and banana. The next action is to drag the cloth slightly forward to adjust its position within the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move right 15 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40138524770736694, + 0.16932857036590576, + 0.007810952141880989, + -3.1218504905700684, + -0.060486022382974625, + 0.2293083518743515 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it, as indicated by the gripper value and position. The cloth remains stationary on the table between the cans and banana. The next action is to drag the cloth slightly forward to adjust its position within the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, keep gripper open; then move forward 2 cm, move right 15 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4022417962551117, + 0.148984894156456, + 0.0029899755027145147, + -3.1218273639678955, + -0.042115531861782074, + 0.20419618487358093 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it, as indicated by the gripper value and position. The cloth remains stationary on the table between the cans and banana. The next action is to drag the cloth slightly forward to adjust its position within the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move forward 2 cm, move right 15 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.402132123708725, + 0.12354295700788498, + 0.0032848897390067577, + -3.1294054985046387, + -0.02811972238123417, + 0.19725899398326874 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth forward", + "subtask_reasoning": "The robot has approached the blue cloth and is now in contact with it, as indicated by the gripper value and position. The cloth remains stationary on the table between the cans and banana. The next action is to drag the cloth slightly forward to adjust its position within the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 15 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4077082574367523, + 0.07250960916280746, + 0.0035261393059045076, + -3.1305994987487793, + 0.01068394910544157, + 0.17397479712963104 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth forward", + "subtask_reasoning": "The robot has made contact with the blue cloth and is currently dragging it forward across the table. The gripper remains open, indicating a pushing or sliding motion rather than a grasp. The next action is to continue moving the cloth forward into the space between the cans and the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4138459265232086, + 0.027782242745161057, + 0.007237508427351713, + -3.13620924949646, + 0.030331382527947426, + 0.1506466567516327 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth forward", + "subtask_reasoning": "The robot has made contact with the blue cloth and is currently dragging it forward across the table. The gripper remains open, indicating a pushing or sliding motion rather than a grasp. The next action is to continue moving the cloth forward into the space between the cans and the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4198337495326996, + -0.001288037863560021, + 0.006415156181901693, + -3.1351561546325684, + 0.042466793209314346, + 0.14739885926246643 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "reposition cloth forward", + "subtask_reasoning": "The robot has made contact with the blue cloth and is currently dragging it forward across the table. The gripper remains open, indicating a pushing or sliding motion rather than a grasp. The next action is to continue moving the cloth forward into the space between the cans and the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.42534857988357544, + -0.024002907797694206, + 0.007923808880150318, + -3.13801646232605, + 0.05099671706557274, + 0.15783387422561646 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The robot has made contact with the blue cloth and is currently dragging it forward across the table. The gripper remains open, indicating a pushing or sliding motion rather than a grasp. The next action is to continue moving the cloth forward into the space between the cans and the banana." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4231492280960083, + -0.03871642053127289, + 0.0083773760125041, + -3.1340277194976807, + 0.07240287214517593, + 0.15740808844566345 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the target zone between the cans and banana, with the gripper open and no grasp detected. The robot has completed dragging the cloth and is now making minor adjustments to finalize its placement. The next action is to slightly reposition or release the cloth to ensure it lies flat in the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.42039695382118225, + -0.03430970013141632, + 0.015161396935582161, + -3.1107232570648193, + 0.055339861661195755, + 0.16672974824905396 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the target zone between the cans and banana, with the gripper open and no grasp detected. The robot has completed dragging the cloth and is now making minor adjustments to finalize its placement. The next action is to slightly reposition or release the cloth to ensure it lies flat in the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4222031235694885, + -0.03262167423963547, + 0.061542678624391556, + -3.1223766803741455, + -0.04055820778012276, + 0.13178332149982452 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cloth between the two cans and the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "reposition cloth forward" + }, + { + "id": 4, + "subtask": "finalize cloth placement" + } + ], + "subtask_name": "finalize cloth placement", + "subtask_reasoning": "The blue cloth is positioned near the target zone between the cans and banana, with the gripper open and no grasp detected. The robot has completed dragging the cloth and is now making minor adjustments to finalize its placement. The next action is to slightly reposition or release the cloth to ensure it lies flat in the desired location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000819_ecot.json b/cot/chunk-0000/episode_0000819_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6323e1b16280e14b971f7bc7ee7ba86469c317e2 --- /dev/null +++ b/cot/chunk-0000/episode_0000819_ecot.json @@ -0,0 +1,2255 @@ +{ + "task_name": "episode_0000819", + "episode_json": "json/chunk-0000/episode_0000819.json", + "video_path": "videos/chunk-0000/image_0/episode_0000819.mp4", + "instruction": "Move the fish to the left of the spoon.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000819.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.5640963315963745, + "std": 0.2562738060951233, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.56410, std=0.25627, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 313, + 113, + 113, + 123, + 123, + 123, + 123, + 123, + 423, + 423, + 423, + 123 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 12 + ], + [ + 4, + 13, + 20 + ], + [ + 5, + 21, + 22 + ], + [ + 6, + 23, + 27 + ], + [ + 7, + 28, + 30 + ], + [ + 8, + 31, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fish\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper from initial position toward the fish on the table.\"},\n {\"id\": 2, \"name\": \"grasp fish\", \"start\": 5, \"end\": 12, \"planning\": \"Close gripper around the fish and secure hold, confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition fish\", \"start\": 13, \"end\": 20, \"planning\": \"Lift the fish slightly and move it leftward across the table surface toward target location.\"},\n {\"id\": 4, \"name\": \"release fish near spoon\", \"start\": 21, \"end\": 27, \"planning\": \"Open gripper to release the fish to the left of the spoon, confirmed by gripper opening and final placement.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 28, \"end\": 31, \"planning\": \"Move gripper away from the fish and spoon area to complete the task.\"}\n ],\n \"global_plan\": \"Approach the fish, grasp it securely, lift and slide it leftward to a position left of the spoon, release it there, then retreat.\",\n \"notes\": \"Gripper evidence supports grasping in segments 3 and 6 (frames 5-12 and 23-27) with meaningful closure/opening; images confirm contact and release. No hallucinated lifts or places — motion is consistent with sliding/lifting based on z-height changes and gripper state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fish", + "start": 0, + "end": 4, + "planning": "Move the gripper from initial position toward the fish on the table." + }, + { + "id": 2, + "name": "grasp fish", + "start": 5, + "end": 12, + "planning": "Close gripper around the fish and secure hold, confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition fish", + "start": 13, + "end": 20, + "planning": "Lift the fish slightly and move it leftward across the table surface toward target location." + }, + { + "id": 4, + "name": "release fish near spoon", + "start": 21, + "end": 27, + "planning": "Open gripper to release the fish to the left of the spoon, confirmed by gripper opening and final placement." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 28, + "end": 31, + "planning": "Move gripper away from the fish and spoon area to complete the task." + } + ], + "global_plan": "Approach the fish, grasp it securely, lift and slide it leftward to a position left of the spoon, release it there, then retreat.", + "notes": "Gripper evidence supports grasping in segments 3 and 6 (frames 5-12 and 23-27) with meaningful closure/opening; images confirm contact and release. No hallucinated lifts or places — motion is consistent with sliding/lifting based on z-height changes and gripper state." + } + }, + "episode_goal": "Move the fish to the left of the spoon.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34780627489089966, + 0.027367735281586647, + 0.061328548938035965, + -3.1370162963867188, + -0.11618649959564209, + -0.0939289778470993 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach fish", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the fish object. No grasping has occurred yet as the gripper remains fully open. The next action should be to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3446921110153198, + 0.02703230455517769, + 0.05012459307909012, + 3.1359214782714844, + -0.08217404037714005, + -0.08911658823490143 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach fish", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the fish object. No grasping has occurred yet as the gripper remains fully open. The next action should be to continue moving the gripper closer to the fish to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3273502290248871, + 0.019181033596396446, + 0.04100387543439865, + 3.08546781539917, + -0.023144761100411415, + -0.1311807483434677 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach fish", + "subtask_reasoning": "The robot is positioned above the wooden counter with the fish centered below the open gripper. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the fish to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2940734624862671, + 0.0184731837362051, + 0.04529450461268425, + 3.0911107063293457, + 0.011280098930001259, + -0.17152093350887299 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach fish", + "subtask_reasoning": "The robot is positioned above the wooden counter with the fish centered below the open gripper. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the fish to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26646047830581665, + 0.028510717675089836, + 0.04533744603395462, + 3.1292760372161865, + 0.0411674901843071, + -0.21437379717826843 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach fish", + "subtask_reasoning": "The robot is positioned above the wooden counter with the fish centered below the open gripper. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the fish to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24938757717609406, + 0.04034909978508949, + 0.039218831807374954, + -3.108773708343506, + 0.059000689536333084, + -0.20364125072956085 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 59, + 352, + 300, + 526 + ], + "spoon": [ + 459, + 213, + 616, + 414 + ], + "tomato sauce": [ + 638, + 40, + 785, + 299 + ], + "toaster": [ + 443, + 4, + 670, + 226 + ], + "pot": [ + 118, + 199, + 328, + 466 + ], + "corn": [ + 768, + 130, + 918, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot is positioned above the wooden counter with the fish centered below the open gripper. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the fish to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move forward 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2467782348394394, + 0.04397467523813248, + 0.02726960927248001, + -3.072061538696289, + 0.021332604810595512, + -0.2009417861700058 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot is positioned above the wooden counter with the fish centered below the open gripper. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the fish to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24505113065242767, + 0.043505772948265076, + 0.013194983825087547, + -3.061661720275879, + -0.00793526042252779, + -0.184867724776268 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot is positioned above the wooden counter with the fish centered below the open gripper. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the fish to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 6 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24376146495342255, + 0.0422651581466198, + 0.007612655870616436, + -3.070859670639038, + -0.04491959884762764, + -0.154701367020607 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move forward 10 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2461472600698471, + 0.04162292182445526, + 0.007268813438713551, + -3.0726842880249023, + -0.06527227908372879, + -0.13625554740428925 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move forward 13 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24596132338047028, + 0.042125169187784195, + 0.006915929261595011, + -3.082153797149658, + -0.06232750043272972, + -0.13445845246315002 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 15 cm, move left 7 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2507353127002716, + 0.04336676001548767, + 0.006249084137380123, + -3.094599962234497, + -0.05878223106265068, + -0.13036614656448364 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 15 cm, move left 8 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25465261936187744, + 0.04383838549256325, + 0.005978021305054426, + -3.121547222137451, + -0.05644745007157326, + -0.12528911232948303 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 15 cm, move left 8 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25878414511680603, + 0.041788943111896515, + 0.007625043857842684, + 3.139592409133911, + -0.05869594216346741, + -0.1300681084394455 + ], + "gripper_value": 0.4690495729446411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 8 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26482266187667847, + 0.038648754358291626, + 0.009567673318088055, + 3.1108953952789307, + -0.05295012518763542, + -0.13830527663230896 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 9 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2742232382297516, + 0.03684944286942482, + 0.017712991684675217, + 3.084754228591919, + -0.06792455166578293, + -0.13227546215057373 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 468, + 212, + 616, + 409 + ], + "tomato sauce": [ + 639, + 41, + 783, + 299 + ], + "purple cloth": [ + 59, + 352, + 314, + 526 + ], + "pot": [ + 118, + 199, + 331, + 465 + ], + "toaster": [ + 394, + 4, + 670, + 229 + ], + "corn": [ + 768, + 128, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has approached the fish and is now positioned directly above it with the gripper open. The current subtask involves closing the gripper to securely grasp the fish. The next action is to close the gripper around the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 9 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2891373634338379, + 0.03511709347367287, + 0.02843397483229637, + 3.0550992488861084, + -0.0666457861661911, + -0.11926843225955963 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 9 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3164134919643402, + 0.03766098618507385, + 0.05103521794080734, + 3.0356035232543945, + -0.12328460812568665, + -0.08714450895786285 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato sauce": [ + 639, + 41, + 782, + 299 + ], + "pot": [ + 117, + 199, + 332, + 466 + ], + "purple cloth": [ + 59, + 347, + 333, + 525 + ], + "spoon": [ + 513, + 212, + 616, + 356 + ], + "corn": [ + 768, + 128, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.353950172662735, + 0.06041662022471428, + 0.06351763755083084, + 3.0505056381225586, + -0.1602773517370224, + -0.001926144934259355 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38626763224601746, + 0.08540991693735123, + 0.06523717939853668, + 3.0738229751586914, + -0.1899968385696411, + 0.07978604733943939 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.40502721071243286, + 0.11214783042669296, + 0.057214781641960144, + 3.1162030696868896, + -0.19352425634860992, + 0.1472131907939911 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition fish", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.40513843297958374, + 0.12574553489685059, + 0.056963782757520676, + -3.126361131668091, + -0.19307257235050201, + 0.16605639457702637 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fish near spoon", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4026893675327301, + 0.13160604238510132, + 0.05558573454618454, + -3.0913541316986084, + -0.1884692758321762, + 0.1701260507106781 + ], + "gripper_value": 0.443907231092453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fish near spoon", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.40170708298683167, + 0.13554483652114868, + 0.04879577085375786, + -3.073331594467163, + -0.17776954174041748, + 0.18345938622951508 + ], + "gripper_value": 0.5246683359146118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fish near spoon", + "subtask_reasoning": "The robot has grasped the fish and is currently lifting it slightly above the table surface. The spoon is visible to the right, establishing the target spatial relationship. The next action is to translate the fish leftward to position it beside the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39973345398902893, + 0.13513542711734772, + 0.04588881507515907, + -3.0740180015563965, + -0.16725105047225952, + 0.18755950033664703 + ], + "gripper_value": 0.8344376683235168 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fish near spoon", + "subtask_reasoning": "The fish has been moved to the left of the spoon and is now resting on the table. The gripper is open, indicating the fish has been released. The next action is to retreat the gripper away from the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984721899032593, + 0.13408492505550385, + 0.04398608207702637, + -3.0776071548461914, + -0.16270002722740173, + 0.18234123289585114 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fish near spoon", + "subtask_reasoning": "The fish has been moved to the left of the spoon and is now resting on the table. The gripper is open, indicating the fish has been released. The next action is to retreat the gripper away from the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3976876735687256, + 0.13195836544036865, + 0.043363410979509354, + -3.0876846313476562, + -0.15548521280288696, + 0.16876155138015747 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fish near spoon", + "subtask_reasoning": "The fish has been moved to the left of the spoon and is now resting on the table. The gripper is open, indicating the fish has been released. The next action is to retreat the gripper away from the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.39080655574798584, + 0.12315797805786133, + 0.0413106232881546, + -3.1310782432556152, + -0.11024563759565353, + 0.1418234258890152 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fish near spoon", + "subtask_reasoning": "The fish has been moved to the left of the spoon and is now resting on the table. The gripper is open, indicating the fish has been released. The next action is to retreat the gripper away from the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3802139461040497, + 0.11514276266098022, + 0.05057584494352341, + 3.133267402648926, + -0.08015067875385284, + 0.10161525011062622 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The fish has been moved to the left of the spoon and is now resting on the table. The gripper is open, indicating the fish has been released. The next action is to retreat the gripper away from the fish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.37215930223464966, + 0.10527458041906357, + 0.05470141023397446, + 3.1264500617980957, + -0.05564321205019951, + 0.05979670211672783 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The fish has been successfully moved to the left of the spoon and released. The robot arm is currently positioned above the table with the gripper open, indicating the manipulation task is complete. The next action is to retract the arm away from the scene to finish the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3687985837459564, + 0.08797938376665115, + 0.057999610900878906, + 3.1404056549072266, + -0.050614334642887115, + 0.01837828755378723 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 456, + 213, + 616, + 415 + ], + "purple cloth": [ + 60, + 346, + 332, + 525 + ], + "tomato sauce": [ + 639, + 40, + 783, + 299 + ], + "pot": [ + 117, + 198, + 330, + 466 + ], + "corn": [ + 768, + 129, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The fish has been successfully moved to the left of the spoon and released. The robot arm is currently positioned above the table with the gripper open, indicating the manipulation task is complete. The next action is to retract the arm away from the scene to finish the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36775559186935425, + 0.07890214025974274, + 0.06629638373851776, + -3.1332170963287354, + -0.07668615132570267, + 0.000688757689204067 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the fish to the left of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fish" + }, + { + "id": 2, + "subtask": "grasp fish" + }, + { + "id": 3, + "subtask": "lift and reposition fish" + }, + { + "id": 4, + "subtask": "release fish near spoon" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The fish has been successfully moved to the left of the spoon and released. The robot arm is currently positioned above the table with the gripper open, indicating the manipulation task is complete. The next action is to retract the arm away from the scene to finish the episode." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000820_ecot.json b/cot/chunk-0000/episode_0000820_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0ba5d421ba45ce942984d145423723c0043c8e --- /dev/null +++ b/cot/chunk-0000/episode_0000820_ecot.json @@ -0,0 +1,1665 @@ +{ + "task_name": "episode_0000820", + "episode_json": "json/chunk-0000/episode_0000820.json", + "video_path": "videos/chunk-0000/image_0/episode_0000820.mp4", + "instruction": "Folds the cloth from bottom left to top right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000820.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.9499196410179138, + "std": 0.393679678440094, + "delta_total": 0.004607439041137695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94992, std=0.39368, total_delta=0.00461). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 23, + 23, + 23 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 19 + ], + [ + 3, + 20, + 22 + ], + [ + 4, + 23, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and contact cloth\", \"start\": 0, \"end\": 13, \"planning\": \"Move gripper toward bottom-left corner of cloth and make initial contact while beginning to close gripper.\"},\n {\"id\": 2, \"name\": \"grasp and lift corner\", \"start\": 14, \"end\": 19, \"planning\": \"Fully close gripper to secure grasp on cloth corner, then lift and begin dragging it diagonally toward top-right.\"},\n {\"id\": 3, \"name\": \"drag cloth across surface\", \"start\": 20, \"end\": 22, \"planning\": \"Continue pulling cloth diagonally while maintaining grip, adjusting orientation as needed during motion.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 23, \"end\": 25, \"planning\": \"Open gripper to release cloth after folding motion completes, then retract arm away from workspace.\"}\n ],\n \"global_plan\": \"Fold the blue cloth by grasping its bottom-left corner, dragging it diagonally to the top-right, and releasing once folded.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0–13) with delta=-0.31195 and visual confirmation at frame 13; grasp wording is justified. Segments 2–4 show continued grip maintenance and controlled release, consistent with folding mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and contact cloth", + "start": 0, + "end": 13, + "planning": "Move gripper toward bottom-left corner of cloth and make initial contact while beginning to close gripper." + }, + { + "id": 2, + "name": "grasp and lift corner", + "start": 14, + "end": 19, + "planning": "Fully close gripper to secure grasp on cloth corner, then lift and begin dragging it diagonally toward top-right." + }, + { + "id": 3, + "name": "drag cloth across surface", + "start": 20, + "end": 22, + "planning": "Continue pulling cloth diagonally while maintaining grip, adjusting orientation as needed during motion." + }, + { + "id": 4, + "name": "release and retreat", + "start": 23, + "end": 25, + "planning": "Open gripper to release cloth after folding motion completes, then retract arm away from workspace." + } + ], + "global_plan": "Fold the blue cloth by grasping its bottom-left corner, dragging it diagonally to the top-right, and releasing once folded.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0–13) with delta=-0.31195 and visual confirmation at frame 13; grasp wording is justified. Segments 2–4 show continued grip maintenance and controlled release, consistent with folding mechanics." + } + }, + "episode_goal": "Fold the cloth from bottom left to top right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2265624701976776, + 0.18723474442958832, + 0.07673420011997223, + -2.9400460720062256, + -0.2404102385044098, + 0.3261507749557495 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot is positioned near the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to move the gripper to touch or lightly grasp the bottom-left corner of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 15 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22479307651519775, + 0.18475055694580078, + 0.06967342644929886, + -2.9505748748779297, + -0.21550552546977997, + 0.332644522190094 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot is positioned near the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to move the gripper to touch or lightly grasp the bottom-left corner of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23354123532772064, + 0.1610717922449112, + 0.06824350357055664, + -2.9942409992218018, + -0.2045828104019165, + 0.34240108728408813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot is positioned near the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to move the gripper to touch or lightly grasp the bottom-left corner of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 12 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24548590183258057, + 0.129703089594841, + 0.07501379400491714, + -3.029210329055786, + -0.2484423965215683, + 0.3307761549949646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot is positioned near the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to move the gripper to touch or lightly grasp the bottom-left corner of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 9 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25835245847702026, + 0.09939827024936676, + 0.06853226572275162, + -3.0849077701568604, + -0.2740793526172638, + 0.3037242889404297 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot is positioned near the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to move the gripper to touch or lightly grasp the bottom-left corner of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27585044503211975, + 0.07268869131803513, + 0.05152258649468422, + -3.1183011531829834, + -0.2579202353954315, + 0.24026930332183838 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 4, + 996, + 994 + ], + "yellow object": [ + 23, + 950, + 110, + 997 + ], + "blue cloth": [ + 64, + 255, + 790, + 729 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot is positioned near the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to move the gripper to touch or lightly grasp the bottom-left corner of the cloth to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006790578365326, + 0.056853312999010086, + 0.041009847074747086, + -3.1126439571380615, + -0.2744453549385071, + 0.15354973077774048 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216981589794159, + 0.044231463223695755, + 0.027296191081404686, + -3.0988264083862305, + -0.27651357650756836, + 0.07065378129482269 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move back 3 cm, move right 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33435967564582825, + 0.041185200214385986, + 0.017456673085689545, + -3.096442222595215, + -0.2536243498325348, + 0.02217479795217514 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 25, + 950, + 109, + 997 + ], + "blue cloth": [ + 65, + 260, + 790, + 730 + ], + "white table": [ + 3, + 4, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, tilt forward 10 degrees, close gripper; then move back 6 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3318445086479187, + 0.03934662416577339, + 0.015570838935673237, + -3.1059436798095703, + -0.23713968694210052, + 0.014926798641681671 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, close gripper; then move back 8 cm, move right 4 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32459402084350586, + 0.04057721793651581, + 0.012219163589179516, + -3.1021523475646973, + -0.20451384782791138, + 0.016228245571255684 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, close gripper; then move back 10 cm, move right 5 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3182832896709442, + 0.043020449578762054, + 0.011621681042015553, + -3.091275215148926, + -0.16594566404819489, + 0.030843272805213928 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 10 cm, move right 5 cm, rotate clockwise 20 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3131433129310608, + 0.04269232228398323, + 0.016040634363889694, + -3.08913516998291, + -0.16975130140781403, + 0.046504706144332886 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move right 5 cm, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3101567327976227, + 0.04295353963971138, + 0.01317543163895607, + -3.094707727432251, + -0.16838426887989044, + 0.052147138863801956 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and contact cloth", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move right 5 cm, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082295358181, + 0.04489125683903694, + 0.011711012572050095, + -3.1013760566711426, + -0.16681338846683502, + 0.0571867860853672 + ], + "gripper_value": 0.4015096127986908 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085099160671234, + 0.04472404345870018, + 0.011761918663978577, + -3.099092721939087, + -0.16818177700042725, + 0.05307568982243538 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot arm is positioned above the blue cloth on a white table, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action is to lower the gripper to grasp the bottom-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30409252643585205, + 0.04262297600507736, + 0.025995798408985138, + -3.0748860836029053, + -0.19306688010692596, + 0.0678938552737236 + ], + "gripper_value": 0.07301933318376541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has contacted the bottom-left corner of the blue cloth and is now in the process of grasping it, as indicated by the decreasing gripper value. The next action is to secure the grip and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, move down 2 cm, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808811664581299, + 0.024835314601659775, + 0.03716232627630234, + -3.0462679862976074, + -0.18962135910987854, + 0.15056778490543365 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has contacted the bottom-left corner of the blue cloth and is now in the process of grasping it, as indicated by the decreasing gripper value. The next action is to secure the grip and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2480342835187912, + 0.01280146837234497, + 0.038418252021074295, + -3.0711936950683594, + -0.19881661236286163, + 0.28885987401008606 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has contacted the bottom-left corner of the blue cloth and is now in the process of grasping it, as indicated by the decreasing gripper value. The next action is to secure the grip and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22459283471107483, + 0.00438813166692853, + 0.022395774722099304, + -3.1259515285491943, + -0.1601533442735672, + 0.35878220200538635 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 5, + 996, + 995 + ], + "blue cloth": [ + 63, + 258, + 782, + 921 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has contacted the bottom-left corner of the blue cloth and is now in the process of grasping it, as indicated by the decreasing gripper value. The next action is to secure the grip and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20820093154907227, + -0.0026117952074855566, + 0.00860252883285284, + 3.1154489517211914, + -0.14718212187290192, + 0.4049035608768463 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has contacted the bottom-left corner of the blue cloth and is now in the process of grasping it, as indicated by the decreasing gripper value. The next action is to secure the grip and begin lifting the corner to initiate the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2016565203666687, + -0.006085383705794811, + 0.005488056223839521, + 3.120896816253662, + -0.1647994965314865, + 0.41489365696907043 + ], + "gripper_value": 0.2062399983406067 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the blue cloth, having completed the initial grasp and lift. The gripper is closed and the arm is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth diagonally across the surface toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.19549793004989624, + -0.013767235912382603, + 0.01179338525980711, + 3.1311426162719727, + -0.17030499875545502, + 0.43880337476730347 + ], + "gripper_value": 0.4568776488304138 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the blue cloth, having completed the initial grasp and lift. The gripper is closed and the arm is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth diagonally across the surface toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.18901410698890686, + -0.02358398027718067, + 0.02104206010699272, + -3.128450632095337, + -0.17417733371257782, + 0.4602976441383362 + ], + "gripper_value": 0.7652681469917297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom-left corner of the blue cloth, having completed the initial grasp and lift. The gripper is closed and the arm is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth diagonally across the surface toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.18593090772628784, + -0.03790321573615074, + 0.03764687851071358, + -3.1094260215759277, + -0.18048687279224396, + 0.4949323534965515 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal drag of the cloth's bottom-left corner to the top-right. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.17291370034217834, + -0.05414508283138275, + 0.04641551896929741, + -3.0867905616760254, + -0.16588780283927917, + 0.5812720060348511 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom left to top right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and contact cloth" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "drag cloth across surface" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed the diagonal drag of the cloth's bottom-left corner to the top-right. The gripper is currently open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000822_ecot.json b/cot/chunk-0000/episode_0000822_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c0213e0d3222213546fa91a4cb78f557553fb796 --- /dev/null +++ b/cot/chunk-0000/episode_0000822_ecot.json @@ -0,0 +1,3611 @@ +{ + "task_name": "episode_0000822", + "episode_json": "json/chunk-0000/episode_0000822.json", + "video_path": "videos/chunk-0000/image_0/episode_0000822.mp4", + "instruction": "Take the spoon from the left bottom burner and put it in the cooking pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 55, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000822.json" + }, + "fps": 5.0, + "T_eff": 55, + "gripper_behavior_summary": { + "available": true, + "range": 0.7759760022163391, + "std": 0.35692039132118225, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77598, std=0.35692, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 221, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 321, + 444, + 444, + 444, + 444, + 444, + 444, + 444, + 444, + 444, + 444, + 444 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 15 + ], + [ + 3, + 16, + 20 + ], + [ + 4, + 21, + 29 + ], + [ + 5, + 30, + 43 + ], + [ + 6, + 44, + 54 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon on left burner\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector toward the spoon resting on the left bottom burner without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp spoon handle\", \"start\": 16, \"end\": 20, \"planning\": \"Close gripper around the spoon handle while maintaining contact; gripper value decreases meaningfully indicating active grasp.\"},\n {\"id\": 3, \"name\": \"lift and transport spoon to pot\", \"start\": 21, \"end\": 29, \"planning\": \"Lift spoon from burner and move it over the cooking pot while maintaining grip; gripper remains closed throughout motion.\"},\n {\"id\": 4, \"name\": \"release spoon into pot\", \"start\": 30, \"end\": 43, \"planning\": \"Open gripper to release spoon into the pot; although no keyframes provided, segment continuity implies release phase before retreat.\"},\n {\"id\": 5, \"name\": \"retreat from pot area\", \"start\": 44, \"end\": 54, \"planning\": \"Move end-effector away from the pot after releasing spoon; gripper opens fully and arm retracts to safe position.\"}\n ],\n \"global_plan\": \"Approach spoon on left burner, grasp it securely, lift and carry to pot, release into pot, then retreat to clear workspace.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion segments. Grasp is only asserted where gripper closure is evidenced (segments 3–4). Release inferred in segment 5 based on gripper reopening trend starting at frame 44, though exact release frame not visible — assumed completed by frame 43 per segment continuity. Segment 5 (frames 30–43) lacks keyframes but must be assigned; planning assumes release occurs here based on gripper state transition into segment 6.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon on left burner", + "start": 0, + "end": 15, + "planning": "Move end-effector toward the spoon resting on the left bottom burner without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp spoon handle", + "start": 16, + "end": 20, + "planning": "Close gripper around the spoon handle while maintaining contact; gripper value decreases meaningfully indicating active grasp." + }, + { + "id": 3, + "name": "lift and transport spoon to pot", + "start": 21, + "end": 29, + "planning": "Lift spoon from burner and move it over the cooking pot while maintaining grip; gripper remains closed throughout motion." + }, + { + "id": 4, + "name": "release spoon into pot", + "start": 30, + "end": 43, + "planning": "Open gripper to release spoon into the pot; although no keyframes provided, segment continuity implies release phase before retreat." + }, + { + "id": 5, + "name": "retreat from pot area", + "start": 44, + "end": 54, + "planning": "Move end-effector away from the pot after releasing spoon; gripper opens fully and arm retracts to safe position." + } + ], + "global_plan": "Approach spoon on left burner, grasp it securely, lift and carry to pot, release into pot, then retreat to clear workspace.", + "notes": "Subtask boundaries align with observed gripper behavior and motion segments. Grasp is only asserted where gripper closure is evidenced (segments 3–4). Release inferred in segment 5 based on gripper reopening trend starting at frame 44, though exact release frame not visible — assumed completed by frame 43 per segment continuity. Segment 5 (frames 30–43) lacks keyframes but must be assigned; planning assumes release occurs here based on gripper state transition into segment 6." + } + }, + "episode_goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704525828361511, + -0.02752860076725483, + 0.10260681807994843, + 3.1207640171051025, + -0.5019592642784119, + -0.09237174689769745 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676031529903412, + -0.02667173370718956, + 0.09126032143831253, + 3.1178245544433594, + -0.46805354952812195, + -0.08484581112861633 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 15 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35921555757522583, + -0.016375290229916573, + 0.08213257789611816, + 3.132647752761841, + -0.4391147494316101, + -0.05574539303779602 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 14 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3496571481227875, + 0.00027554138796404004, + 0.08968550711870193, + -3.12605619430542, + -0.45700863003730774, + -0.019005009904503822 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 704, + 545, + 994, + 992 + ], + "spoon": [ + 146, + 363, + 333, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 13 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34124019742012024, + 0.012112840078771114, + 0.09553937613964081, + -3.090461492538452, + -0.43769359588623047, + -0.0029284993652254343 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32763758301734924, + 0.03519027307629585, + 0.09926540404558182, + -3.0548596382141113, + -0.44913142919540405, + 0.06860806047916412 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 9 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3221188187599182, + 0.055129095911979675, + 0.09315972030162811, + -3.0128324031829834, + -0.4641212522983551, + 0.06218687817454338 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160913288593292, + 0.06798567622900009, + 0.08737850934267044, + -2.997563600540161, + -0.40806668996810913, + 0.0301058292388916 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31694847345352173, + 0.09032190591096878, + 0.08173862844705582, + -2.970432996749878, + -0.42513126134872437, + 0.012482150457799435 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31114041805267334, + 0.10946423560380936, + 0.07210107147693634, + -3.0102734565734863, + -0.44277694821357727, + 0.06484908610582352 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 704, + 545, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058530390262604, + 0.11923743039369583, + 0.057137541472911835, + -3.042320489883423, + -0.4138798415660858, + 0.07541675120592117 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, close gripper; then move right 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30150026082992554, + 0.11944109946489334, + 0.043999478220939636, + -3.0744802951812744, + -0.4030191898345947, + 0.09810015559196472 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29753169417381287, + 0.12580828368663788, + 0.026984289288520813, + -3.104310989379883, + -0.37041857838630676, + 0.11770728975534439 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30038484930992126, + 0.12801837921142578, + 0.020817719399929047, + -3.1189982891082764, + -0.36077308654785156, + 0.11864861100912094 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3004784882068634, + 0.13277551531791687, + 0.010322271846234798, + -3.1158289909362793, + -0.3471372425556183, + 0.12154392898082733 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019786775112152, + 0.13352707028388977, + 0.00888725183904171, + -3.1281590461730957, + -0.36023011803627014, + 0.12871292233467102 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "approach spoon on left burner", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009904623031616, + 0.13273261487483978, + 0.005726716946810484, + 3.133981466293335, + -0.34597131609916687, + 0.13815054297447205 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999308109283447, + 0.13316965103149414, + 0.0053011695854365826, + 3.1280789375305176, + -0.32261136174201965, + 0.16021323204040527 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left bottom burner. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the end-effector to make contact with the spoon handle for secure grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 6 cm, move up 7 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018735945224762, + 0.1322019398212433, + 0.006309760734438896, + 3.124159336090088, + -0.31100746989250183, + 0.15178611874580383 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot arm is positioned directly above the spoon on the left burner, with the gripper open and aligned with the spoon handle. The approach phase is complete, and the gripper is now closing to grasp the spoon handle. The next action is to secure the grip on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028097152709961, + 0.12902627885341644, + 0.006726250518113375, + 3.1192309856414795, + -0.2853820323944092, + 0.15772435069084167 + ], + "gripper_value": 0.573952317237854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot arm is positioned directly above the spoon on the left burner, with the gripper open and aligned with the spoon handle. The approach phase is complete, and the gripper is now closing to grasp the spoon handle. The next action is to secure the grip on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 9 cm, move up 5 cm, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.305776447057724, + 0.12085186690092087, + 0.008566266857087612, + 3.1144626140594482, + -0.25644800066947937, + 0.16180427372455597 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "grasp spoon handle", + "subtask_reasoning": "The robot arm is positioned directly above the spoon on the left burner, with the gripper open and aligned with the spoon handle. The approach phase is complete, and the gripper is now closing to grasp the spoon handle. The next action is to secure the grip on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178223967552185, + 0.10890714824199677, + 0.01709102652966976, + 3.1154255867004395, + -0.2557141184806824, + 0.1607401818037033 + ], + "gripper_value": 0.4238326847553253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The robot arm is positioned directly above the spoon on the left burner, with the gripper open and aligned with the spoon handle. The approach phase is complete, and the gripper is now closing to grasp the spoon handle. The next action is to secure the grip on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32238462567329407, + 0.08517767488956451, + 0.02951022796332836, + 3.104658603668213, + -0.2745869755744934, + 0.14782585203647614 + ], + "gripper_value": 0.24725793302059174 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 703, + 545, + 994, + 993 + ], + "spoon": [ + 428, + 142, + 637, + 327 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The robot arm is positioned directly above the spoon on the left burner, with the gripper open and aligned with the spoon handle. The approach phase is complete, and the gripper is now closing to grasp the spoon handle. The next action is to secure the grip on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32284191250801086, + 0.08343421667814255, + 0.03963923454284668, + 3.0983119010925293, + -0.30462145805358887, + 0.18281812965869904 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The robot arm is positioned directly above the spoon on the left burner, with the gripper open and aligned with the spoon handle. The approach phase is complete, and the gripper is now closing to grasp the spoon handle. The next action is to secure the grip on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32126477360725403, + 0.08256806433200836, + 0.04064834490418434, + 3.1040990352630615, + -0.2816888093948364, + 0.17512299120426178 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The robot arm is positioned directly above the spoon on the left burner, with the gripper open and aligned with the spoon handle. The approach phase is complete, and the gripper is now closing to grasp the spoon handle. The next action is to secure the grip on the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3288569748401642, + 0.07577017694711685, + 0.05586366727948189, + 3.095693349838257, + -0.2347411960363388, + 0.21887712180614471 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366103768348694, + 0.06680084019899368, + 0.07741783559322357, + 3.0818235874176025, + -0.1787223070859909, + 0.33641865849494934 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3386887013912201, + 0.052348703145980835, + 0.08601675927639008, + 3.076265811920166, + -0.13151666522026062, + 0.5094878077507019 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418004512786865, + 0.03994838893413544, + 0.08242031186819077, + 3.063105821609497, + -0.06624943017959595, + 0.7639739513397217 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3359401822090149, + 0.023024749010801315, + 0.06847087293863297, + 3.0138704776763916, + 0.0025521935895085335, + 0.9917793869972229 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "lift and transport spoon to pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32576146721839905, + 0.005117872264236212, + 0.05189577862620354, + 3.0083391666412354, + 0.04166761413216591, + 1.069456696510315 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3140769302845001, + -0.014750653877854347, + 0.05379311740398407, + 3.0318355560302734, + 0.06304878741502762, + 1.1108689308166504 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 701, + 545, + 994, + 993 + ], + "spoon": [ + 557, + 439, + 844, + 721 + ], + "pot": [ + 481, + 464, + 708, + 725 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3065580427646637, + -0.020235782489180565, + 0.050416961312294006, + 3.0544564723968506, + 0.05832148715853691, + 1.1212900876998901 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30734896659851074, + -0.022157514467835426, + 0.05095171555876732, + 3.044407606124878, + 0.06558414548635483, + 1.098938226699829 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3029507100582123, + -0.02181212231516838, + 0.050726670771837234, + 3.071209669113159, + 0.07710075378417969, + 1.112191081047058 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019598722457886, + -0.025255722925066948, + 0.04623112455010414, + 3.0443124771118164, + 0.09116180986166, + 1.094875693321228 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon has been grasped and lifted from the left bottom burner, and is now being transported toward the cooking pot. The gripper remains closed with minimal motion variation, indicating stable transport. The next action is to position the spoon over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.30117806792259216, + -0.0243919026106596, + 0.042508047074079514, + 3.0363125801086426, + 0.08164800703525543, + 1.100808024406433 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3025204837322235, + -0.023753976449370384, + 0.039342001080513, + 3.015057325363159, + 0.06541315466165543, + 1.086111307144165 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30353155732154846, + -0.02263949252665043, + 0.034968409687280655, + 3.002601385116577, + 0.049163345247507095, + 1.0687470436096191 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037230968475342, + -0.023318341001868248, + 0.02915218286216259, + 3.007253646850586, + 0.05454755201935768, + 1.0508347749710083 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.30352282524108887, + -0.024615107104182243, + 0.023513605818152428, + 2.9976770877838135, + 0.05801623687148094, + 1.0436934232711792 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move forward 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3014470636844635, + -0.022300725802779198, + 0.018683504313230515, + 2.994464874267578, + 0.057990316301584244, + 1.0361545085906982 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move forward 3 cm, move left 1 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.30024418234825134, + -0.017428837716579437, + 0.013889209367334843, + 2.9977738857269287, + 0.013889776542782784, + 1.031739592552185 + ], + "gripper_value": 0.22681957483291626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.29943785071372986, + -0.02213286980986595, + 0.012120567262172699, + 3.0372161865234375, + -0.07088904082775116, + 1.051991581916809 + ], + "gripper_value": 0.30189207196235657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "release spoon into pot", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 4 cm, move left 6 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 43 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.29654455184936523, + -0.025658313184976578, + 0.012982616201043129, + 3.086202383041382, + -0.15417182445526123, + 1.0749591588974 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 700, + 546, + 994, + 992 + ], + "spoon": [ + 560, + 560, + 829, + 817 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.29967451095581055, + -0.025559576228260994, + 0.015379122458398342, + 3.0894298553466797, + -0.2014499455690384, + 1.0716700553894043 + ], + "gripper_value": 0.8535622954368591 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.30378055572509766, + -0.024958016350865364, + 0.018878497183322906, + 3.0892245769500732, + -0.2149035483598709, + 1.0601003170013428 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.30545681715011597, + -0.026107454672455788, + 0.022222064435482025, + 3.098379135131836, + -0.2069273144006729, + 1.0511441230773926 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3098755478858948, + -0.030690206214785576, + 0.03371044620871544, + 3.1113317012786865, + -0.1759973019361496, + 1.0263441801071167 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon is currently held above the cooking pot, aligned for release. The gripper remains closed with minimal motion, indicating the spoon is still grasped. The next action should be to open the gripper to drop the spoon into the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090202808380127, + -0.032812055200338364, + 0.051263228058815, + 3.117460250854492, + -0.1289755403995514, + 1.0400938987731934 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon has been successfully placed into the cooking pot, and the gripper is now open and clear of the pot. The robot is positioned above the pot area, indicating completion of the placement action. The next step is to retreat the arm away from the pot to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.31477150321006775, + -0.029532654210925102, + 0.0697033703327179, + 3.1343469619750977, + -0.12918634712696075, + 0.9752485156059265 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon has been successfully placed into the cooking pot, and the gripper is now open and clear of the pot. The robot is positioned above the pot area, indicating completion of the placement action. The next step is to retreat the arm away from the pot to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.32367223501205444, + -0.011677106842398643, + 0.08167397975921631, + 3.0982139110565186, + -0.22426852583885193, + 0.8699244260787964 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon has been successfully placed into the cooking pot, and the gripper is now open and clear of the pot. The robot is positioned above the pot area, indicating completion of the placement action. The next step is to retreat the arm away from the pot to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3316131830215454, + 0.0136502580717206, + 0.07895825058221817, + 3.085198163986206, + -0.2701530456542969, + 0.7493856549263 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon has been successfully placed into the cooking pot, and the gripper is now open and clear of the pot. The robot is positioned above the pot area, indicating completion of the placement action. The next step is to retreat the arm away from the pot to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.33339571952819824, + 0.03316148743033409, + 0.07760308682918549, + 3.0894579887390137, + -0.2682229280471802, + 0.62330162525177 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 532, + 517, + 778, + 806 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon has been successfully placed into the cooking pot, and the gripper is now open and clear of the pot. The robot is positioned above the pot area, indicating completion of the placement action. The next step is to retreat the arm away from the pot to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.34084615111351013, + 0.05633093789219856, + 0.07500981539487839, + 3.119678497314453, + -0.3171946406364441, + 0.4354234039783478 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the spoon from the left bottom burner and place it into the cooking pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon on left burner" + }, + { + "id": 2, + "subtask": "grasp spoon handle" + }, + { + "id": 3, + "subtask": "lift and transport spoon to pot" + }, + { + "id": 4, + "subtask": "release spoon into pot" + }, + { + "id": 5, + "subtask": "retreat from pot area" + } + ], + "subtask_name": "retreat from pot area", + "subtask_reasoning": "The spoon has been successfully placed into the cooking pot, and the gripper is now open and clear of the pot. The robot is positioned above the pot area, indicating completion of the placement action. The next step is to retreat the arm away from the pot to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 54 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 44, + "end": 54 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000823_ecot.json b/cot/chunk-0000/episode_0000823_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3763f756de9c5eb9155bce41c856b0d990e29f88 --- /dev/null +++ b/cot/chunk-0000/episode_0000823_ecot.json @@ -0,0 +1,1338 @@ +{ + "task_name": "episode_0000823", + "episode_json": "json/chunk-0000/episode_0000823.json", + "video_path": "videos/chunk-0000/image_0/episode_0000823.mp4", + "instruction": "Put cup into pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000823.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9095044136047363, + "std": 0.38799992203712463, + "delta_total": -0.5873311758041382, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90950, std=0.38800, total_delta=-0.58733). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 107, + 107, + 107, + 107, + 107, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 7 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 6 + ], + [ + 3, + 7, + 11 + ], + [ + 4, + 12, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cup in dish rack\", \"start\": 0, \"end\": 0, \"planning\": \"Position end-effector above the blue cup in the dish rack without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue cup\", \"start\": 1, \"end\": 6, \"planning\": \"Close gripper around the blue cup while maintaining contact and securing hold.\"},\n {\"id\": 3, \"name\": \"lift and reposition cup\", \"start\": 7, \"end\": 11, \"planning\": \"Lift the grasped cup slightly and adjust orientation for transfer toward pot.\"},\n {\"id\": 4, \"name\": \"place cup into pot\", \"start\": 12, \"end\": 19, \"planning\": \"Move cup over pot and release gripper to deposit cup inside, then retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the blue cup in the dish rack, grasp it securely, lift and reposition it toward the pot, then release it into the pot.\",\n \"notes\": \"Gripper closure is confirmed in segments 2–4; segment 1 shows no motion or grip change. Final frame shows cup inside pot with gripper opening, confirming successful placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cup in dish rack", + "start": 0, + "end": 0, + "planning": "Position end-effector above the blue cup in the dish rack without closing gripper." + }, + { + "id": 2, + "name": "grasp blue cup", + "start": 1, + "end": 6, + "planning": "Close gripper around the blue cup while maintaining contact and securing hold." + }, + { + "id": 3, + "name": "lift and reposition cup", + "start": 7, + "end": 11, + "planning": "Lift the grasped cup slightly and adjust orientation for transfer toward pot." + }, + { + "id": 4, + "name": "place cup into pot", + "start": 12, + "end": 19, + "planning": "Move cup over pot and release gripper to deposit cup inside, then retreat slightly." + } + ], + "global_plan": "Approach the blue cup in the dish rack, grasp it securely, lift and reposition it toward the pot, then release it into the pot.", + "notes": "Gripper closure is confirmed in segments 2–4; segment 1 shows no motion or grip change. Final frame shows cup inside pot with gripper opening, confirming successful placement." + } + }, + "episode_goal": "Pick up the blue cup from the dish rack and place it into the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2726709544658661, + 0.05291778966784477, + 0.15303626656532288, + -3.12945294380188, + -0.2088785171508789, + 0.293390154838562 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "approach cup in dish rack", + "subtask_reasoning": "The robot is positioned above the dish rack with the blue cup visible below. The gripper is fully open and no grasping has occurred yet. The next action is to lower the end-effector toward the blue cup to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 0 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 0 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2722695767879486, + 0.05054411292076111, + 0.13914471864700317, + 3.1358742713928223, + -0.17242830991744995, + 0.2965688407421112 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "grasp blue cup", + "subtask_reasoning": "The robot is positioned above the dish rack with the blue cup visible below. The gripper is fully open and no grasping has occurred yet. The next action is to lower the end-effector toward the blue cup to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26964235305786133, + 0.057928845286369324, + 0.12271112203598022, + 3.106687545776367, + -0.15223589539527893, + 0.3275876045227051 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "grasp blue cup", + "subtask_reasoning": "The robot is positioned above the dish rack with the blue cup visible below. The gripper is fully open and no grasping has occurred yet. The next action is to lower the end-effector toward the blue cup to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2685777246952057, + 0.06505683809518814, + 0.10498128831386566, + 3.0788986682891846, + -0.12406215816736221, + 0.3400224447250366 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "soap bottle": [ + 428, + 597, + 632, + 888 + ], + "yellow brush": [ + 747, + 629, + 963, + 996 + ], + "blue cup": [ + 213, + 276, + 380, + 465 + ], + "toy watermelon": [ + 845, + 209, + 997, + 434 + ], + "faucet": [ + 588, + 8, + 822, + 372 + ], + "dish rack": [ + 106, + 153, + 591, + 523 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "grasp blue cup", + "subtask_reasoning": "The robot has approached the blue cup in the dish rack, with the gripper positioned above it. The gripper is currently open (value ~0.999), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26721957325935364, + 0.06966497004032135, + 0.09380845725536346, + 3.057682514190674, + -0.11245657503604889, + 0.3391951024532318 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "grasp blue cup", + "subtask_reasoning": "The robot has approached the blue cup in the dish rack, with the gripper positioned above it. The gripper is currently open (value ~0.999), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26420527696609497, + 0.07091928273439407, + 0.08592120558023453, + 3.0380337238311768, + -0.08925183117389679, + 0.3511531949043274 + ], + "gripper_value": 0.8445048928260803 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "grasp blue cup", + "subtask_reasoning": "The robot has approached the blue cup in the dish rack, with the gripper positioned above it. The gripper is currently open (value ~0.999), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26446768641471863, + 0.06757860630750656, + 0.07912281155586243, + 3.0149459838867188, + -0.05810046195983887, + 0.364326536655426 + ], + "gripper_value": 0.5452468395233154 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "grasp blue cup", + "subtask_reasoning": "The robot has approached the blue cup in the dish rack, with the gripper positioned above it. The gripper is currently open (value ~0.999), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649413049221039, + 0.06764622777700424, + 0.07558431476354599, + 3.0058858394622803, + -0.04679064080119133, + 0.38760507106781006 + ], + "gripper_value": 0.2737756073474884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot has approached the blue cup in the dish rack, with the gripper positioned above it. The gripper is currently open (value ~0.999), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 9 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26338866353034973, + 0.0666910707950592, + 0.08531748503446579, + 3.03875470161438, + -0.08217383921146393, + 0.38768231868743896 + ], + "gripper_value": 0.1270572394132614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot has approached the blue cup in the dish rack, with the gripper positioned above it. The gripper is currently open (value ~0.999), indicating no grasp has occurred yet. The next action should be to close the gripper to securely grasp the blue cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 9 cm, move right 2 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26200875639915466, + 0.06263319402933121, + 0.09921703487634659, + 3.0711374282836914, + -0.13349241018295288, + 0.38114410638809204 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The blue cup has been grasped from the dish rack and is currently being lifted upward. The gripper is closed around the cup, and the arm is repositioning it toward the metal pot. The next action is to continue moving the cup over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598997950553894, + 0.06022972986102104, + 0.10907094180583954, + 3.0939688682556152, + -0.15073701739311218, + 0.36223772168159485 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The blue cup has been grasped from the dish rack and is currently being lifted upward. The gripper is closed around the cup, and the arm is repositioning it toward the metal pot. The next action is to continue moving the cup over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26503998041152954, + 0.06316132098436356, + 0.12071859836578369, + 3.127331256866455, + -0.1666518747806549, + 0.34128475189208984 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The blue cup has been grasped from the dish rack and is currently being lifted upward. The gripper is closed around the cup, and the arm is repositioning it toward the metal pot. The next action is to continue moving the cup over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27313369512557983, + 0.06077168881893158, + 0.14995844662189484, + -3.1138899326324463, + -0.2652258574962616, + 0.30528438091278076 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "soap bottle": [ + 428, + 595, + 632, + 885 + ], + "blue cup": [ + 171, + 135, + 347, + 325 + ], + "yellow brush": [ + 747, + 627, + 963, + 996 + ], + "dish rack": [ + 104, + 155, + 589, + 521 + ], + "faucet": [ + 587, + 9, + 823, + 373 + ], + "toy watermelon": [ + 846, + 209, + 997, + 434 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup has been grasped from the dish rack and is currently being lifted upward. The gripper is closed around the cup, and the arm is repositioning it toward the metal pot. The next action is to continue moving the cup over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826090157032013, + 0.054210957139730453, + 0.17761079967021942, + -3.088862657546997, + -0.3676585257053375, + 0.23973610997200012 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup has been grasped from the dish rack and is currently being lifted upward. The gripper is closed around the cup, and the arm is repositioning it toward the metal pot. The next action is to continue moving the cup over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30245429277420044, + 0.047578658908605576, + 0.19314630329608917, + -3.0661840438842773, + -0.3944856822490692, + 0.16862954199314117 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup has been grasped from the dish rack and is currently being lifted upward. The gripper is closed around the cup, and the arm is repositioning it toward the metal pot. The next action is to continue moving the cup over the pot for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33087795972824097, + 0.0391026996076107, + 0.19594083726406097, + -3.0519046783447266, + -0.3610853850841522, + 0.08939889073371887 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating a secure grasp has been maintained during the approach. The next action is to release the cup into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3547951877117157, + 0.039128322154283524, + 0.19274377822875977, + -3.04583477973938, + -0.3108634352684021, + 0.04692694544792175 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating a secure grasp has been maintained during the approach. The next action is to release the cup into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36413976550102234, + 0.04103280231356621, + 0.18271656334400177, + -3.041393280029297, + -0.21895426511764526, + 0.03830275684595108 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating a secure grasp has been maintained during the approach. The next action is to release the cup into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36353954672813416, + 0.044270362704992294, + 0.17462262511253357, + -3.0493881702423096, + -0.15643563866615295, + 0.03931537643074989 + ], + "gripper_value": 0.19552281498908997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating a secure grasp has been maintained during the approach. The next action is to release the cup into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36146023869514465, + 0.05792897939682007, + 0.17400281131267548, + -3.0494155883789062, + -0.15246500074863434, + 0.06734823435544968 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue cup from the dish rack and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup in dish rack" + }, + { + "id": 2, + "subtask": "grasp blue cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "place cup into pot" + } + ], + "subtask_name": "place cup into pot", + "subtask_reasoning": "The blue cup is currently held by the gripper and positioned directly above the metal pot in the sink. The gripper is closed, indicating a secure grasp has been maintained during the approach. The next action is to release the cup into the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000824_ecot.json b/cot/chunk-0000/episode_0000824_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0b44407dd63fee3042777eb3a991016e8a585968 --- /dev/null +++ b/cot/chunk-0000/episode_0000824_ecot.json @@ -0,0 +1,1150 @@ +{ + "task_name": "episode_0000824", + "episode_json": "json/chunk-0000/episode_0000824.json", + "video_path": "videos/chunk-0000/image_0/episode_0000824.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000824.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.9558162093162537, + "std": 0.4247044324874878, + "delta_total": -0.6553738117218018, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95582, std=0.42470, total_delta=-0.65537). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 9 + ], + [ + 3, + 10, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot in sink\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the overturned pot in the sink without grasping, as gripper remains open.\"},\n {\"id\": 2, \"name\": \"grasp pot rim\", \"start\": 3, \"end\": 9, \"planning\": \"Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"flip pot upright\", \"start\": 10, \"end\": 18, \"planning\": \"Rotate and reposition the pot while maintaining grip until it is upright in the sink, then release contact.\"}\n ],\n \"global_plan\": \"Approach the overturned pot in the sink, grasp its rim securely, then rotate and reposition it to stand upright before releasing.\",\n \"notes\": \"Segment 1 shows no meaningful gripper closure — described as approach only. Segment 2 shows strong gripper closure consistent with grasping. Segment 3 shows continued grip during manipulation followed by partial release at end, consistent with flipping and placing upright.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot in sink", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the overturned pot in the sink without grasping, as gripper remains open." + }, + { + "id": 2, + "name": "grasp pot rim", + "start": 3, + "end": 9, + "planning": "Close gripper to securely grasp the rim of the pot, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "flip pot upright", + "start": 10, + "end": 18, + "planning": "Rotate and reposition the pot while maintaining grip until it is upright in the sink, then release contact." + } + ], + "global_plan": "Approach the overturned pot in the sink, grasp its rim securely, then rotate and reposition it to stand upright before releasing.", + "notes": "Segment 1 shows no meaningful gripper closure — described as approach only. Segment 2 shows strong gripper closure consistent with grasping. Segment 3 shows continued grip during manipulation followed by partial release at end, consistent with flipping and placing upright." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37592610716819763, + -0.058124154806137085, + 0.03721236810088158, + -3.013248920440674, + -0.08724688738584518, + 0.3749433159828186 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink where an overturned metal pot is located. The gripper is currently open and hovering near the pot, indicating the approach phase is underway but contact has not yet been made. The next action is to lower the arm to align with the pot's rim for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 30 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3746185898780823, + -0.05788007006049156, + 0.023311205208301544, + -3.0274126529693604, + -0.05476037412881851, + 0.3873195946216583 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the gripper remains open as per segment evidence. The next action should be to lower the arm slightly to align the gripper with the pot's rim for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 30 degrees, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3777969479560852, + -0.056456513702869415, + 0.02082074247300625, + -3.1375060081481934, + -0.06358788907527924, + 0.412155419588089 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "approach pot in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the gripper remains open as per segment evidence. The next action should be to lower the arm slightly to align the gripper with the pot's rim for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 30 degrees, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move right 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38073354959487915, + -0.050818897783756256, + 0.02043035440146923, + 3.041982889175415, + -0.07057604193687439, + 0.45123034715652466 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the gripper remains open as per segment evidence. The next action should be to lower the arm slightly to align the gripper with the pot's rim for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 30 degrees, rotate clockwise 20 degrees, close gripper; then move right 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3795311152935028, + -0.04642297327518463, + 0.01769770309329033, + 2.962437868118286, + -0.07364429533481598, + 0.4646048843860626 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 640, + 390, + 823, + 624 + ], + "faucet": [ + 800, + 12, + 989, + 323 + ], + "sink": [ + 484, + 300, + 994, + 789 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the gripper remains open as per segment evidence. The next action should be to lower the arm slightly to align the gripper with the pot's rim for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, tilt right 30 degrees, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move right 1 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37838178873062134, + -0.04608175531029701, + 0.01117640919983387, + 2.816516637802124, + -0.062787726521492, + 0.5062932372093201 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, approaching the overturned pot. No contact has been made yet, and the gripper remains open as per segment evidence. The next action should be to lower the arm slightly to align the gripper with the pot's rim for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, tilt right 20 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38072630763053894, + -0.046800944954156876, + 0.007330853492021561, + 2.6683080196380615, + -0.048564016819000244, + 0.5945066809654236 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38347697257995605, + -0.05071015655994415, + 0.008554075844585896, + 2.56087327003479, + -0.038765937089920044, + 0.6479261517524719 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.390616774559021, + -0.05579182133078575, + 0.013215750455856323, + 2.465627908706665, + -0.02782200276851654, + 0.6912937760353088 + ], + "gripper_value": 0.8454146385192871 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3926135003566742, + -0.05757604166865349, + 0.008085937239229679, + 2.444275140762329, + -0.00206003338098526, + 0.7173489332199097 + ], + "gripper_value": 0.520771861076355 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "grasp pot rim", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3940751254558563, + -0.05821910500526428, + 0.010113953612744808, + 2.4347262382507324, + 0.004414002876728773, + 0.7199668884277344 + ], + "gripper_value": 0.26876991987228394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3974325358867645, + -0.06094871088862419, + 0.011292788200080395, + 2.4783935546875, + -0.02573588490486145, + 0.7148885726928711 + ], + "gripper_value": 0.14281629025936127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.40008291602134705, + -0.06628464162349701, + 0.011590490117669106, + 2.60262393951416, + -0.07334981858730316, + 0.6825070977210999 + ], + "gripper_value": 0.07988496869802475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39600515365600586, + -0.0685955360531807, + 0.007394278887659311, + 2.785503387451172, + -0.11298426985740662, + 0.6214628219604492 + ], + "gripper_value": 0.06413581967353821 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 615, + 400, + 829, + 642 + ], + "sink": [ + 476, + 274, + 994, + 792 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot arm is positioned over the overturned pot in the sink, with the gripper open and aligned near the pot's rim. The approach phase is complete, and the gripper is preparing to close. The next action is to close the gripper to grasp the pot rim securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40218350291252136, + -0.06947635859251022, + 0.00835804920643568, + 2.8811213970184326, + -0.1329052597284317, + 0.5933648347854614 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has approached and grasped the overturned pot in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the pot to flip it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4065636396408081, + -0.07549961656332016, + 0.010168981738388538, + 2.9428040981292725, + -0.13651251792907715, + 0.5663948059082031 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has approached and grasped the overturned pot in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the pot to flip it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41195133328437805, + -0.07563348114490509, + 0.013952311128377914, + 2.9738476276397705, + -0.14104610681533813, + 0.5696252584457397 + ], + "gripper_value": 0.05729193985462189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has approached and grasped the overturned pot in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the pot to flip it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4154890179634094, + -0.07939276099205017, + 0.013602973893284798, + 2.9877007007598877, + -0.16130928695201874, + 0.5607765316963196 + ], + "gripper_value": 0.14042599499225616 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has approached and grasped the overturned pot in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the pot to flip it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4164717495441437, + -0.0790390595793724, + 0.012402806431055069, + 2.9840617179870605, + -0.17470680177211761, + 0.5486046075820923 + ], + "gripper_value": 0.3577343225479126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot in sink" + }, + { + "id": 2, + "subtask": "grasp pot rim" + }, + { + "id": 3, + "subtask": "flip pot upright" + } + ], + "subtask_name": "flip pot upright", + "subtask_reasoning": "The robot has approached and grasped the overturned pot in the sink. The gripper is closed around the pot's rim, and the arm is positioned to initiate rotation. The next action is to rotate the pot to flip it upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000825_ecot.json b/cot/chunk-0000/episode_0000825_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a24b0ed1e858dbd157cd3b7eb70d66c3ea7b421f --- /dev/null +++ b/cot/chunk-0000/episode_0000825_ecot.json @@ -0,0 +1,2062 @@ +{ + "task_name": "episode_0000825", + "episode_json": "json/chunk-0000/episode_0000825.json", + "video_path": "videos/chunk-0000/image_0/episode_0000825.mp4", + "instruction": "Picked a red spoon and placed it on top of an orange cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000825.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.5997158288955688, + "std": 0.27693304419517517, + "delta_total": 0.0026487112045288086, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59972, std=0.27693, total_delta=0.00265). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 224, + 224, + 224, + 24, + 24 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ], + [ + 3, + 12, + 13 + ], + [ + 4, + 14, + 23 + ], + [ + 5, + 24, + 26 + ], + [ + 6, + 27, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red spoon\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the red spoon on the stovetop without closing the gripper.\"},\n {\"id\": 2, \"name\": \"close gripper on spoon\", \"start\": 6, \"end\": 11, \"planning\": \"Close the gripper around the red spoon to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 12, \"end\": 13, \"planning\": \"Lift the grasped spoon slightly and begin moving it toward the orange cloth.\"},\n {\"id\": 4, \"name\": \"transport spoon over cloth\", \"start\": 14, \"end\": 23, \"planning\": \"Carry the spoon over the orange cloth while maintaining grip, preparing for placement.\"},\n {\"id\": 5, \"name\": \"release spoon on cloth\", \"start\": 24, \"end\": 26, \"planning\": \"Open the gripper to release the spoon onto the orange cloth surface.\"},\n {\"id\": 6, \"name\": \"retreat from cloth area\", \"start\": 27, \"end\": 28, \"planning\": \"Move the end-effector away from the cloth after releasing the spoon.\"}\n ],\n \"global_plan\": \"Approach the red spoon, grasp it, lift and transport it over the orange cloth, release it on the cloth, then retreat.\",\n \"notes\": \"Subtask boundaries align with provided segment spans; gripper evidence supports grasp only in segments 2–5 (frames 6–26), consistent with image observations. Segments 1 and 6 show no meaningful gripper closing, so contact-based verbs are used.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red spoon", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the red spoon on the stovetop without closing the gripper." + }, + { + "id": 2, + "name": "close gripper on spoon", + "start": 6, + "end": 11, + "planning": "Close the gripper around the red spoon to secure it for lifting." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 12, + "end": 13, + "planning": "Lift the grasped spoon slightly and begin moving it toward the orange cloth." + }, + { + "id": 4, + "name": "transport spoon over cloth", + "start": 14, + "end": 23, + "planning": "Carry the spoon over the orange cloth while maintaining grip, preparing for placement." + }, + { + "id": 5, + "name": "release spoon on cloth", + "start": 24, + "end": 26, + "planning": "Open the gripper to release the spoon onto the orange cloth surface." + }, + { + "id": 6, + "name": "retreat from cloth area", + "start": 27, + "end": 28, + "planning": "Move the end-effector away from the cloth after releasing the spoon." + } + ], + "global_plan": "Approach the red spoon, grasp it, lift and transport it over the orange cloth, release it on the cloth, then retreat.", + "notes": "Subtask boundaries align with provided segment spans; gripper evidence supports grasp only in segments 2–5 (frames 6–26), consistent with image observations. Segments 1 and 6 show no meaningful gripper closing, so contact-based verbs are used." + } + }, + "episode_goal": "Place the red spoon on top of the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30689749121665955, + -0.07011843472719193, + 0.04014471918344498, + -3.104887008666992, + -0.20318831503391266, + 0.11334654688835144 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned near the red spoon on the stovetop, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action should involve moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30291372537612915, + -0.0696442648768425, + 0.028993738815188408, + -3.0949478149414062, + -0.1673738807439804, + 0.11537927389144897 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot is positioned near the red spoon on the stovetop, with the orange cloth visible nearby. No grasping has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action should involve moving the end-effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30998095870018005, + -0.07501626759767532, + 0.011117896065115929, + -3.102703094482422, + -0.12864373624324799, + 0.13186641037464142 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, near the red spoon and orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.317766398191452, + -0.07891534268856049, + -0.0006187899853102863, + -3.1011083126068115, + -0.10716371983289719, + 0.13316123187541962 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, near the red spoon and orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32367247343063354, + -0.0838460922241211, + -0.013169973157346249, + -3.1144490242004395, + -0.09068892151117325, + 0.1235017254948616 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, near the red spoon and orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32490646839141846, + -0.08726096153259277, + -0.023933302611112595, + -3.1344966888427734, + -0.08378205448389053, + 0.11630058288574219 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tiled wall": [ + 390, + 2, + 998, + 641 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "approach red spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, near the red spoon and orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32715219259262085, + -0.08555495738983154, + -0.030935535207390785, + 3.1349966526031494, + -0.07888113707304001, + 0.12135745584964752 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, near the red spoon and orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296254873275757, + -0.08131303638219833, + -0.033463865518569946, + 3.1282565593719482, + -0.07239756733179092, + 0.12865008413791656 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, near the red spoon and orange cloth. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move right 1 cm, keep gripper closed; then move back 5 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321695029735565, + -0.0765836089849472, + -0.04314462095499039, + 3.120063543319702, + -0.0607360303401947, + 0.12831902503967285 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon, which is the next logical step before lifting and transporting it to the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move right 1 cm, keep gripper closed; then move back 8 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.332917183637619, + -0.07682248950004578, + -0.04336761310696602, + 3.1158792972564697, + -0.062479496002197266, + 0.12402684986591339 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon, which is the next logical step before lifting and transporting it to the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, keep gripper closed; then move back 10 cm, move left 6 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3342878520488739, + -0.07763713598251343, + -0.04353037849068642, + 3.106745481491089, + -0.06730370968580246, + 0.1327717900276184 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon, which is the next logical step before lifting and transporting it to the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, keep gripper closed; then move back 11 cm, move left 8 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33577102422714233, + -0.07633566111326218, + -0.04367293789982796, + 3.1132028102874756, + -0.0794653370976448, + 0.1303161382675171 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "close gripper on spoon", + "subtask_reasoning": "The robot has approached the red spoon and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the spoon, which is the next logical step before lifting and transporting it to the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, keep gripper closed; then move back 10 cm, move left 9 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33644023537635803, + -0.07688460499048233, + -0.04337938129901886, + 3.113081455230713, + -0.08269105106592178, + 0.1276319921016693 + ], + "gripper_value": 0.46716928482055664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is currently lifting it from the stovetop surface. The gripper is closed around the spoon handle, and the arm is beginning to reposition the object. The next action is to continue lifting and moving the spoon over the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 9 cm, move left 10 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3359287977218628, + -0.07805503159761429, + -0.043396104127168655, + 3.118803024291992, + -0.08318356424570084, + 0.12020110338926315 + ], + "gripper_value": 0.4448287785053253 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is currently lifting it from the stovetop surface. The gripper is closed around the spoon handle, and the arm is beginning to reposition the object. The next action is to continue lifting and moving the spoon over the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move back 8 cm, move left 10 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.33245226740837097, + -0.08331456780433655, + -0.04152243956923485, + -3.1380856037139893, + -0.09256250411272049, + 0.10218433290719986 + ], + "gripper_value": 0.43656274676322937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is currently lifting it from the stovetop surface. The gripper is closed around the spoon handle, and the arm is beginning to reposition the object. The next action is to continue lifting and moving the spoon over the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 10 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3255375027656555, + -0.09729919582605362, + -0.008452445268630981, + -3.0863418579101562, + -0.15243929624557495, + 0.09058793634176254 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is currently lifting it from the stovetop surface. The gripper is closed around the spoon handle, and the arm is beginning to reposition the object. The next action is to continue lifting and moving the spoon over the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 11 cm, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30530375242233276, + -0.09301509708166122, + 0.023226002231240273, + -3.021601438522339, + -0.21751241385936737, + 0.09644851833581924 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is currently lifting it from the stovetop surface. The gripper is closed around the spoon handle, and the arm is beginning to reposition the object. The next action is to continue lifting and moving the spoon over the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27827727794647217, + -0.0791536271572113, + 0.028113972395658493, + -3.0275089740753174, + -0.2344522923231125, + 0.12373323738574982 + ], + "gripper_value": 0.4059307873249054 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot has successfully grasped the red spoon and is currently lifting it from the stovetop surface. The gripper is closed around the spoon handle, and the arm is beginning to reposition the object. The next action is to continue lifting and moving the spoon over the orange cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24965757131576538, + -0.049977000802755356, + 0.012648448348045349, + -3.0773653984069824, + -0.22864589095115662, + 0.1762728989124298 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 279, + 6, + 410, + 308 + ], + "white tiled wall": [ + 391, + 2, + 998, + 591 + ] + } + } + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is currently holding the red spoon and moving it above the orange cloth on the stovetop. The approach and grasp phases are complete, and the spoon is positioned for placement. The next action is to lower the spoon onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 2 cm, open gripper; then move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23140309751033783, + -0.02109445072710514, + 0.0032217870466411114, + -3.097748279571533, + -0.23239627480506897, + 0.22866100072860718 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is currently holding the red spoon and moving it above the orange cloth on the stovetop. The approach and grasp phases are complete, and the spoon is positioned for placement. The next action is to lower the spoon onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.227179616689682, + -0.0016751548973843455, + -0.002844371600076556, + -3.1191022396087646, + -0.23547041416168213, + 0.2645106911659241 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is currently holding the red spoon and moving it above the orange cloth on the stovetop. The approach and grasp phases are complete, and the spoon is positioned for placement. The next action is to lower the spoon onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23062077164649963, + 0.011353559792041779, + -0.010503266006708145, + -3.117872714996338, + -0.2262091189622879, + 0.26273268461227417 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is currently holding the red spoon and moving it above the orange cloth on the stovetop. The approach and grasp phases are complete, and the spoon is positioned for placement. The next action is to lower the spoon onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2470780909061432, + 0.01588064804673195, + -0.011727751232683659, + -3.1103720664978027, + -0.222463458776474, + 0.23398634791374207 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is currently holding the red spoon and moving it above the orange cloth on the stovetop. The approach and grasp phases are complete, and the spoon is positioned for placement. The next action is to lower the spoon onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25558269023895264, + 0.016067607328295708, + -0.013933058828115463, + -3.110408306121826, + -0.21547213196754456, + 0.22229664027690887 + ], + "gripper_value": 0.46716928482055664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "transport spoon over cloth", + "subtask_reasoning": "The robot is currently holding the red spoon and moving it above the orange cloth on the stovetop. The approach and grasp phases are complete, and the spoon is positioned for placement. The next action is to lower the spoon onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25791385769844055, + 0.014699360355734825, + -0.011170754209160805, + -3.1027774810791016, + -0.20085908472537994, + 0.2214592844247818 + ], + "gripper_value": 0.7922340631484985 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The robot is currently holding the red spoon and moving it above the orange cloth on the stovetop. The approach and grasp phases are complete, and the spoon is positioned for placement. The next action is to lower the spoon onto the cloth and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25682953000068665, + 0.010176893323659897, + 0.00023257257998920977, + -3.074537754058838, + -0.20095893740653992, + 0.229815274477005 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly above the orange cloth. The gripper is open, indicating the spoon has been released or is in the process of being released onto the cloth. The next action is to confirm the spoon is stably placed and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2631281912326813, + -0.010729578323662281, + 0.027622921392321587, + -3.0860865116119385, + -0.24753208458423615, + 0.28091397881507874 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "release spoon on cloth", + "subtask_reasoning": "The red spoon is currently held by the gripper and positioned directly above the orange cloth. The gripper is open, indicating the spoon has been released or is in the process of being released onto the cloth. The next action is to confirm the spoon is stably placed and then retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691572606563568, + -0.03529487922787666, + 0.04053386300802231, + 3.140798807144165, + -0.240962952375412, + 0.3215104043483734 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "retreat from cloth area", + "subtask_reasoning": "The red spoon is already placed on the orange cloth, and the gripper is open and moving away. The retreat subtask is in progress, with the arm lifting and withdrawing from the cloth area. The next action is to continue moving the arm backward and upward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 27, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754185199737549, + -0.04989268258213997, + 0.04330744221806526, + 3.0711593627929688, + -0.25795117020606995, + 0.33125758171081543 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red spoon on top of the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red spoon" + }, + { + "id": 2, + "subtask": "close gripper on spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "transport spoon over cloth" + }, + { + "id": 5, + "subtask": "release spoon on cloth" + }, + { + "id": 6, + "subtask": "retreat from cloth area" + } + ], + "subtask_name": "retreat from cloth area", + "subtask_reasoning": "The red spoon is already placed on the orange cloth, and the gripper is open and moving away. The retreat subtask is in progress, with the arm lifting and withdrawing from the cloth area. The next action is to continue moving the arm backward and upward to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000826_ecot.json b/cot/chunk-0000/episode_0000826_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..72d3e8b0dbdb596b4199865235503b897437e8a2 --- /dev/null +++ b/cot/chunk-0000/episode_0000826_ecot.json @@ -0,0 +1,1365 @@ +{ + "task_name": "episode_0000826", + "episode_json": "json/chunk-0000/episode_0000826.json", + "video_path": "videos/chunk-0000/image_0/episode_0000826.mp4", + "instruction": "Lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000826.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.6462399959564209, + "std": 0.2962283194065094, + "delta_total": -0.43943870067596436, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64624, std=0.29623, total_delta=-0.43944). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 111, + 111, + 111, + 111, + 111, + 111, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the vertical lever while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 10, \"end\": 10, \"planning\": \"Close gripper to securely grasp the lever as confirmed by significant gripper closure and image alignment.\"},\n {\"id\": 3, \"name\": \"reposition grip\", \"start\": 11, \"end\": 12, \"planning\": \"Adjust hand position slightly while maintaining contact, without further grasping action.\"},\n {\"id\": 4, \"name\": \"pull lever forward\", \"start\": 13, \"end\": 18, \"planning\": \"Apply controlled force to pull the lever vertically forward while holding it firmly.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 19, \"end\": 19, \"planning\": \"Open gripper to release the lever and begin retreating from the manipulation zone.\"}\n ],\n \"global_plan\": \"Approach the vertical lever, grasp it securely, reposition for optimal leverage, pull it forward to complete the task, then release and retreat.\",\n \"notes\": \"Gripper closure is only asserted in segments with meaningful closing evidence (segments 1 and 3). Segment 2 shows minimal gripper change and is described as repositioning. Final frame shows gripper opening, consistent with release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the vertical lever while keeping gripper open." + }, + { + "id": 2, + "name": "grasp lever", + "start": 10, + "end": 10, + "planning": "Close gripper to securely grasp the lever as confirmed by significant gripper closure and image alignment." + }, + { + "id": 3, + "name": "reposition grip", + "start": 11, + "end": 12, + "planning": "Adjust hand position slightly while maintaining contact, without further grasping action." + }, + { + "id": 4, + "name": "pull lever forward", + "start": 13, + "end": 18, + "planning": "Apply controlled force to pull the lever vertically forward while holding it firmly." + }, + { + "id": 5, + "name": "release and retreat", + "start": 19, + "end": 19, + "planning": "Open gripper to release the lever and begin retreating from the manipulation zone." + } + ], + "global_plan": "Approach the vertical lever, grasp it securely, reposition for optimal leverage, pull it forward to complete the task, then release and retreat.", + "notes": "Gripper closure is only asserted in segments with meaningful closing evidence (segments 1 and 3). Segment 2 shows minimal gripper change and is described as repositioning. Final frame shows gripper opening, consistent with release." + } + }, + "episode_goal": "Grasp the faucet handle and pull it forward to the vertical position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38992026448249817, + -0.05769024416804314, + 0.08739779889583588, + -2.9106788635253906, + -0.02832731232047081, + -0.01984853856265545 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. No part of the approach subtask has been completed as the end-effector remains stationary and distant from the target. The next action should be to move the arm forward and downward to close the distance to the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3891776502132416, + -0.05794469267129898, + 0.07043526321649551, + -2.910824775695801, + -0.01559496484696865, + -0.02470848523080349 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 351, + 825, + 943 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. No part of the approach subtask has been completed as the end-effector remains stationary and distant from the target. The next action should be to move the arm forward and downward to close the distance to the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39309048652648926, + -0.05769042670726776, + 0.06629423797130585, + -2.9103775024414062, + -0.049255095422267914, + -0.03151586279273033 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. No part of the approach subtask has been completed as the end-effector remains stationary and distant from the target. The next action should be to move the arm forward and downward to close the distance to the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 2 cm, tilt back 10 degrees, close gripper; then keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3986312448978424, + -0.05437801033258438, + 0.06804579496383667, + -2.8821916580200195, + -0.08030708879232407, + -0.049577582627534866 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet contacted. No part of the approach subtask has been completed as the end-effector remains stationary and distant from the target. The next action should be to move the arm forward and downward to close the distance to the faucet handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, close gripper; then keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4042404294013977, + -0.05472871661186218, + 0.07390527427196503, + -2.8546597957611084, + -0.1056208685040474, + -0.07324155420064926 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, tilt back 10 degrees, close gripper; then keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.41028520464897156, + -0.05465054512023926, + 0.08102470636367798, + -2.8428215980529785, + -0.12831741571426392, + -0.08885412663221359 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, close gripper; then keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.41413643956184387, + -0.05469202622771263, + 0.08414331078529358, + -2.8379080295562744, + -0.14434443414211273, + -0.10299977660179138 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.42018505930900574, + -0.056314997375011444, + 0.08908997476100922, + -2.8388612270355225, + -0.16904816031455994, + -0.12804242968559265 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4244039058685303, + -0.05837038531899452, + 0.09303539246320724, + -2.8445913791656494, + -0.18394537270069122, + -0.1441902071237564 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4271172285079956, + -0.059263914823532104, + 0.09024319797754288, + -2.8500349521636963, + -0.1824217587709427, + -0.14294229447841644 + ], + "gripper_value": 0.8196109533309937 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet handle visible ahead. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.42740002274513245, + -0.05961856618523598, + 0.08825130015611649, + -2.8529653549194336, + -0.18272846937179565, + -0.13575045764446259 + ], + "gripper_value": 0.5403295159339905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is positioned near it. The gripper is open and not yet in contact with the lever. The next action should involve closing the gripper to grasp the lever securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42602628469467163, + -0.059116631746292114, + 0.08676763623952866, + -2.8758552074432373, + -0.17771808803081512, + -0.10962686687707901 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot has approached and grasped the faucet handle. The current subtask involves repositioning the grip for better leverage, with no significant gripper movement observed in this segment. The next action should focus on adjusting the hand position on the handle without releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4116033911705017, + -0.058223120868206024, + 0.08555726706981659, + -2.8818697929382324, + -0.16620811820030212, + -0.05725075304508209 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot has approached and grasped the faucet handle. The current subtask involves repositioning the grip for better leverage, with no significant gripper movement observed in this segment. The next action should focus on adjusting the hand position on the handle without releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3948206305503845, + -0.058041755110025406, + 0.08040286600589752, + -2.8819515705108643, + -0.1391199231147766, + -0.0262521393597126 + ], + "gripper_value": 0.3814634680747986 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 206, + 352, + 824, + 944 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet handle. The current subtask involves repositioning the grip for better leverage, with no significant gripper movement observed in this segment. The next action should focus on adjusting the hand position on the handle without releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3807160258293152, + -0.05939187481999397, + 0.06659730523824692, + -2.918412446975708, + -0.10322596877813339, + -0.019019443541765213 + ], + "gripper_value": 0.37205085158348083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet handle. The current subtask involves repositioning the grip for better leverage, with no significant gripper movement observed in this segment. The next action should focus on adjusting the hand position on the handle without releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37818920612335205, + -0.05790027230978012, + 0.05869170278310776, + -2.9671671390533447, + -0.08935921639204025, + -0.0123817203566432 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is currently grasping the faucet handle, which is in a horizontal position. The gripper signal indicates a stable hold throughout this segment. The next action is to pull the lever forward to rotate it into the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37676557898521423, + -0.05679209530353546, + 0.0471220463514328, + -2.9995689392089844, + -0.053116653114557266, + -0.01582803577184677 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is currently grasping the faucet handle, which is in a horizontal position. The gripper signal indicates a stable hold throughout this segment. The next action is to pull the lever forward to rotate it into the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769786059856415, + -0.055702339857816696, + 0.033321116119623184, + -3.0142877101898193, + -0.03024551458656788, + -0.01611744426190853 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is currently grasping the faucet handle, which is in a horizontal position. The gripper signal indicates a stable hold throughout this segment. The next action is to pull the lever forward to rotate it into the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3768547475337982, + -0.055479079484939575, + 0.0330096073448658, + -3.013018846511841, + -0.030259355902671814, + -0.01860794983804226 + ], + "gripper_value": 0.3552374839782715 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull lever forward", + "subtask_reasoning": "The robot is currently grasping the faucet handle, which is in a horizontal position. The gripper signal indicates a stable hold throughout this segment. The next action is to pull the lever forward to rotate it into the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3746100068092346, + -0.05311654880642891, + 0.03586433082818985, + -2.9753456115722656, + -0.01666489616036415, + 0.0025331489741802216 + ], + "gripper_value": 0.562038779258728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet handle and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "reposition grip" + }, + { + "id": 4, + "subtask": "pull lever forward" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The faucet lever has been successfully pulled to the vertical position and is no longer being held by the gripper. The robot arm is currently positioned above the sink, having completed the manipulation. The next action is to retreat the arm further away from the sink area to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000827_ecot.json b/cot/chunk-0000/episode_0000827_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e279c358aa2266a407b5b6e20fb77009bf4cc519 --- /dev/null +++ b/cot/chunk-0000/episode_0000827_ecot.json @@ -0,0 +1,1871 @@ +{ + "task_name": "episode_0000827", + "episode_json": "json/chunk-0000/episode_0000827.json", + "video_path": "videos/chunk-0000/image_0/episode_0000827.mp4", + "instruction": "Put pear in bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000827.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.34739553928375244, + "std": 0.14517532289028168, + "delta_total": 0.0033466219902038574, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34740, std=0.14518, total_delta=0.00335). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the pear without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp pear\", \"start\": 3, \"end\": 15, \"planning\": \"Close gripper around pear and lift it from surface.\"},\n {\"id\": 3, \"name\": \"transport pear to bowl\", \"start\": 16, \"end\": 25, \"planning\": \"Carry grasped pear over to blue bowl location.\"},\n {\"id\": 4, \"name\": \"release pear into bowl\", \"start\": 26, \"end\": 28, \"planning\": \"Open gripper to drop pear into bowl and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach pear, grasp it, transport to bowl, and release into bowl.\",\n \"notes\": \"Segment 1 (frames 0-2) shows no gripper closure — only approach motion. Segment 2 (frames 3-28) has meaningful gripper range (0.34740) and image evidence supports grasp at frame 15 and release at frame 28. Subtasks split segment 2 into grasp, transport, and release phases based on motion and gripper state changes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the pear without closing gripper." + }, + { + "id": 2, + "name": "grasp pear", + "start": 3, + "end": 15, + "planning": "Close gripper around pear and lift it from surface." + }, + { + "id": 3, + "name": "transport pear to bowl", + "start": 16, + "end": 25, + "planning": "Carry grasped pear over to blue bowl location." + }, + { + "id": 4, + "name": "release pear into bowl", + "start": 26, + "end": 28, + "planning": "Open gripper to drop pear into bowl and retreat slightly." + } + ], + "global_plan": "Approach pear, grasp it, transport to bowl, and release into bowl.", + "notes": "Segment 1 (frames 0-2) shows no gripper closure — only approach motion. Segment 2 (frames 3-28) has meaningful gripper range (0.34740) and image evidence supports grasp at frame 15 and release at frame 28. Subtasks split segment 2 into grasp, transport, and release phases based on motion and gripper state changes." + } + }, + "episode_goal": "Place the green pear into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31186944246292114, + -0.038672614842653275, + 0.11820314079523087, + 2.9532558917999268, + 0.1556592434644699, + 0.1840444803237915 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the tray with the gripper open, approaching the yellow pear located on the right side. No objects have been grasped yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 11 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3095369338989258, + -0.038646798580884933, + 0.10765550285577774, + 2.9608728885650635, + 0.1932307332754135, + 0.18505071103572845 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 11 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090030550956726, + -0.03908688202500343, + 0.10635761171579361, + 2.9550249576568604, + 0.20239967107772827, + 0.19751718640327454 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 11 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3144896626472473, + -0.013783982023596764, + 0.11228641867637634, + 2.908437967300415, + 0.2470756471157074, + 0.4376564025878906 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166027069091797, + 0.010985523462295532, + 0.12332575023174286, + 2.8557517528533936, + 0.18297412991523743, + 0.6776727437973022 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange lid": [ + 303, + 466, + 496, + 655 + ], + "blue bowl": [ + 500, + 424, + 675, + 628 + ], + "yellow pear": [ + 622, + 610, + 728, + 765 + ], + "wooden table": [ + 21, + 119, + 880, + 918 + ], + "green apple": [ + 314, + 332, + 394, + 428 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138795793056488, + 0.04364428669214249, + 0.12865549325942993, + 2.8425416946411133, + 0.1556437462568283, + 0.9122864603996277 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 11 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30851268768310547, + 0.05763990059494972, + 0.11880922317504883, + 2.871241569519043, + 0.12711194157600403, + 0.9356106519699097 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 10 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30162954330444336, + 0.07584726810455322, + 0.11188780516386032, + 2.9635567665100098, + 0.07501288503408432, + 1.013283133506775 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29511022567749023, + 0.08461059629917145, + 0.09340513497591019, + 3.0339596271514893, + 0.055806126445531845, + 1.0100293159484863 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned above the wooden tray containing a green pear and a blue bowl. No actions have been completed yet as the gripper remains open and stationary. The robot needs to initiate movement to approach the green pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29572001099586487, + 0.09522894769906998, + 0.07560238987207413, + 3.0392632484436035, + 0.05890650302171707, + 1.0143738985061646 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987745404243469, + 0.09816902875900269, + 0.05730500444769859, + 3.0340611934661865, + 0.08080051094293594, + 0.9877041578292847 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move right 3 cm, move up 6 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30348560214042664, + 0.09763698279857635, + 0.046890221536159515, + 3.008472442626953, + 0.07381641119718552, + 0.9505326151847839 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move right 5 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088091313838959, + 0.09649483859539032, + 0.039431825280189514, + 2.9820079803466797, + 0.11677628010511398, + 0.9432365894317627 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange lid": [ + 302, + 466, + 495, + 654 + ], + "yellow pear": [ + 621, + 609, + 722, + 765 + ], + "blue bowl": [ + 499, + 425, + 675, + 628 + ], + "green apple": [ + 322, + 329, + 394, + 424 + ], + "wooden table": [ + 22, + 148, + 882, + 919 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move back 1 cm, move right 8 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3098742365837097, + 0.09900566190481186, + 0.03297462686896324, + 3.0068519115448, + 0.11633175611495972, + 0.9266384243965149 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move right 11 cm, move up 8 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3094125986099243, + 0.10093728452920914, + 0.02358090691268444, + 3.0483334064483643, + 0.11835919320583344, + 0.9134281873703003 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 3 cm, move right 13 cm, move up 6 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115827441215515, + 0.10566238313913345, + 0.020956482738256454, + 3.055875062942505, + 0.07406224310398102, + 0.8996931314468384 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "grasp pear", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 3 cm, move right 13 cm, move up 6 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31172510981559753, + 0.10426003485918045, + 0.014329822733998299, + 3.0740036964416504, + 0.06516381353139877, + 0.8859365582466125 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 13 cm, move up 6 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3091379404067993, + 0.09771209955215454, + 0.014631363563239574, + 3.056077480316162, + 0.10851404815912247, + 0.8685070276260376 + ], + "gripper_value": 0.680191159248352 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 6 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3079664707183838, + 0.09596960991621017, + 0.01427521277219057, + 3.0448825359344482, + 0.11843990534543991, + 0.8608528971672058 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 6 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30491185188293457, + 0.08802627772092819, + 0.028991926461458206, + 3.0130889415740967, + 0.1511899083852768, + 0.8193774819374084 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is positioned near the green pear with the gripper open, having completed the approach phase. Since segment-level evidence shows no meaningful closing, the gripper is not yet grasping the object. The next action is to close the gripper to make contact and secure the pear." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085249066352844, + 0.07384753227233887, + 0.07089830935001373, + 2.9272828102111816, + 0.13171331584453583, + 0.8154723048210144 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is holding the green pear and moving it toward the blue bowl. The grasp has been successfully completed, and the pear is currently in transit. The next action is to continue transporting the pear until it is positioned above the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 10 cm, tilt forward 20 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107166886329651, + 0.050342753529548645, + 0.08898618817329407, + 2.913933277130127, + 0.15659792721271515, + 0.8023853898048401 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is holding the green pear and moving it toward the blue bowl. The grasp has been successfully completed, and the pear is currently in transit. The next action is to continue transporting the pear until it is positioned above the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061469793319702, + 0.022326426580548286, + 0.09867889434099197, + 2.937072515487671, + 0.25912705063819885, + 0.7995542287826538 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is holding the green pear and moving it toward the blue bowl. The grasp has been successfully completed, and the pear is currently in transit. The next action is to continue transporting the pear until it is positioned above the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29757970571517944, + -0.004606849979609251, + 0.09092844277620316, + 2.972069501876831, + 0.3431887924671173, + 0.7610791921615601 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is holding the green pear and moving it toward the blue bowl. The grasp has been successfully completed, and the pear is currently in transit. The next action is to continue transporting the pear until it is positioned above the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843686640262604, + -0.02528860978782177, + 0.07855796068906784, + 2.957810163497925, + 0.3971984088420868, + 0.7233002185821533 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange lid": [ + 303, + 467, + 496, + 655 + ], + "blue bowl": [ + 500, + 426, + 675, + 628 + ], + "yellow pear": [ + 622, + 610, + 724, + 765 + ], + "wooden table": [ + 20, + 120, + 883, + 921 + ], + "green apple": [ + 521, + 302, + 604, + 416 + ] + } + } + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is holding the green pear and moving it toward the blue bowl. The grasp has been successfully completed, and the pear is currently in transit. The next action is to continue transporting the pear until it is positioned above the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2824513614177704, + -0.027933791279792786, + 0.07437768578529358, + 2.958799123764038, + 0.3941178023815155, + 0.7209367752075195 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "transport pear to bowl", + "subtask_reasoning": "The robot is holding the green pear and moving it toward the blue bowl. The grasp has been successfully completed, and the pear is currently in transit. The next action is to continue transporting the pear until it is positioned above the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2858203649520874, + -0.027081118896603584, + 0.07105838507413864, + 2.938056230545044, + 0.3736092150211334, + 0.6927529573440552 + ], + "gripper_value": 0.9837720394134521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "release pear into bowl", + "subtask_reasoning": "The robot is holding the green pear and moving it toward the blue bowl. The grasp has been successfully completed, and the pear is currently in transit. The next action is to continue transporting the pear until it is positioned above the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.289013147354126, + -0.023878565058112144, + 0.07273548096418381, + 2.882289409637451, + 0.3638657331466675, + 0.6437283754348755 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "release pear into bowl", + "subtask_reasoning": "The green pear is already resting inside the blue bowl, indicating the release action has been completed. The gripper is open and positioned above the bowl, confirming the object is no longer held. No further action is required for this subtask as the goal state is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29777875542640686, + -0.016335168853402138, + 0.08489283919334412, + 2.8311822414398193, + 0.3525206446647644, + 0.611865758895874 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green pear into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "grasp pear" + }, + { + "id": 3, + "subtask": "transport pear to bowl" + }, + { + "id": 4, + "subtask": "release pear into bowl" + } + ], + "subtask_name": "release pear into bowl", + "subtask_reasoning": "The green pear is already resting inside the blue bowl, indicating the release action has been completed. The gripper is open and positioned above the bowl, confirming the object is no longer held. No further action is required for this subtask as the goal state is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000828_ecot.json b/cot/chunk-0000/episode_0000828_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..576349624666bbfc5573d4d888787c3d8bfe90ac --- /dev/null +++ b/cot/chunk-0000/episode_0000828_ecot.json @@ -0,0 +1,2322 @@ +{ + "task_name": "episode_0000828", + "episode_json": "json/chunk-0000/episode_0000828.json", + "video_path": "videos/chunk-0000/image_0/episode_0000828.mp4", + "instruction": "Move the green cloth to the top right of the kitchen.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000828.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 10 + ], + [ + 4, + 11, + 14 + ], + [ + 5, + 15, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the green cloth on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"align over cloth\", \"start\": 4, \"end\": 10, \"planning\": \"Position the gripper directly above the green cloth in preparation for contact.\"},\n {\"id\": 3, \"name\": \"make contact with cloth\", \"start\": 11, \"end\": 14, \"planning\": \"Lower the gripper to make gentle contact with the surface of the green cloth.\"},\n {\"id\": 4, \"name\": \"slide cloth to target\", \"start\": 15, \"end\": 30, \"planning\": \"Drag the green cloth across the stovetop toward the top-right corner using continuous contact.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 31, \"end\": 33, \"planning\": \"Lift the gripper slightly and move away after positioning the cloth at the target location.\"}\n ],\n \"global_plan\": \"The robot approaches the green cloth, makes contact, slides it to the top-right of the kitchen stovetop, then releases and retreats — all without grasping, as confirmed by constant gripper state.\",\n \"notes\": \"Gripper remained fully open throughout; no grasp or lift occurred. Motion is purely contact-based sliding. Segment boundaries adjusted for natural phase transitions while preserving full coverage and contiguity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the green cloth on the stovetop without grasping." + }, + { + "id": 2, + "name": "align over cloth", + "start": 4, + "end": 10, + "planning": "Position the gripper directly above the green cloth in preparation for contact." + }, + { + "id": 3, + "name": "make contact with cloth", + "start": 11, + "end": 14, + "planning": "Lower the gripper to make gentle contact with the surface of the green cloth." + }, + { + "id": 4, + "name": "slide cloth to target", + "start": 15, + "end": 30, + "planning": "Drag the green cloth across the stovetop toward the top-right corner using continuous contact." + }, + { + "id": 5, + "name": "release and retreat", + "start": 31, + "end": 33, + "planning": "Lift the gripper slightly and move away after positioning the cloth at the target location." + } + ], + "global_plan": "The robot approaches the green cloth, makes contact, slides it to the top-right of the kitchen stovetop, then releases and retreats — all without grasping, as confirmed by constant gripper state.", + "notes": "Gripper remained fully open throughout; no grasp or lift occurred. Motion is purely contact-based sliding. Segment boundaries adjusted for natural phase transitions while preserving full coverage and contiguity." + } + }, + "episode_goal": "Move the green cloth to the top right of the kitchen.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19011127948760986, + -0.13834908604621887, + 0.08887383341789246, + -3.053994655609131, + 0.1948351413011551, + -0.2510523796081543 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the stovetop, with no prior actions completed. The gripper remains open and stationary, indicating no grasp has occurred. The next action is to move the end-effector closer to the cloth to initiate sliding contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 11 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 8 cm, move left 7 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.18010832369327545, + -0.12989327311515808, + 0.07815442979335785, + -3.0383331775665283, + 0.24990399181842804, + -0.23460601270198822 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the stovetop, with the gripper open and no contact yet made. The subtask 'approach cloth' is in progress, with motion toward the cloth evident from position changes. The next action is to continue moving the end-effector closer to establish contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 8 cm, move left 7 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.19218772649765015, + -0.10492129623889923, + 0.08294828236103058, + -3.0619754791259766, + 0.24132122099399567, + -0.0800933688879013 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the stovetop, with the gripper open and no contact yet made. The subtask 'approach cloth' is in progress, with motion toward the cloth evident from position changes. The next action is to continue moving the end-effector closer to establish contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 7 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20758064091205597, + -0.07440270483493805, + 0.08705039322376251, + -3.066260576248169, + 0.2121736705303192, + 0.11509445309638977 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 303, + 458, + 534, + 656 + ], + "metal bowl": [ + 517, + 695, + 796, + 994 + ], + "wooden cabinet": [ + 2, + 3, + 278, + 526 + ], + "tiled wall": [ + 254, + 2, + 998, + 658 + ], + "spoon": [ + 36, + 714, + 341, + 944 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the stovetop, with the gripper open and no contact yet made. The subtask 'approach cloth' is in progress, with motion toward the cloth evident from position changes. The next action is to continue moving the end-effector closer to establish contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 7 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2279539555311203, + -0.030990391969680786, + 0.08517658710479736, + -3.0925140380859375, + 0.15630678832530975, + 0.3087853789329529 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the stovetop, with the gripper open and no contact yet made. The subtask 'approach cloth' is in progress, with motion toward the cloth evident from position changes. The next action is to continue moving the end-effector closer to establish contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24614441394805908, + 0.0050849006511271, + 0.06920679658651352, + -3.090214490890503, + 0.09117401391267776, + 0.45036283135414124 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the stovetop, with the gripper open and no contact yet made. The subtask 'approach cloth' is in progress, with motion toward the cloth evident from position changes. The next action is to continue moving the end-effector closer to establish contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2570415139198303, + 0.024604082107543945, + 0.044684574007987976, + -3.12070631980896, + 0.09006694704294205, + 0.5479284524917603 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the stovetop, with the gripper open and no contact yet made. The subtask 'approach cloth' is in progress, with motion toward the cloth evident from position changes. The next action is to continue moving the end-effector closer to establish contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27540862560272217, + 0.03260267153382301, + 0.02809685468673706, + -3.1165757179260254, + 0.03892414644360542, + 0.5810838937759399 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp has occurred. The next action is to make contact with the cloth to begin sliding it toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28919026255607605, + 0.03676000237464905, + 0.020209824666380882, + -3.1195268630981445, + -0.002703818492591381, + 0.580138623714447 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp has occurred. The next action is to make contact with the cloth to begin sliding it toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.301250159740448, + 0.03747006505727768, + 0.017593851312994957, + -3.137032985687256, + -0.02132732793688774, + 0.5860414505004883 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp has occurred. The next action is to make contact with the cloth to begin sliding it toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085201680660248, + 0.03832148388028145, + 0.013873395510017872, + -3.137098550796509, + -0.021341215819120407, + 0.5891100764274597 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align over cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp has occurred. The next action is to make contact with the cloth to begin sliding it toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3099116384983063, + 0.03701261430978775, + 0.008655224926769733, + 3.1375174522399902, + -0.018514638766646385, + 0.5726797580718994 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green cloth on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasp has occurred. The next action is to make contact with the cloth to begin sliding it toward the top-right corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106761872768402, + 0.03452680632472038, + 0.008385703898966312, + 3.1269690990448, + -0.0186415184289217, + 0.5406858921051025 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30712348222732544, + 0.026205264031887054, + 0.008623447269201279, + 3.110039710998535, + 0.013762205839157104, + 0.4400537312030792 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 8 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29835885763168335, + 0.013703031465411186, + 0.008874503895640373, + 3.138683319091797, + 0.06591154634952545, + 0.3281159996986389 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 8 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2946075201034546, + -0.0076172323897480965, + 0.007118472829461098, + -3.11310076713562, + 0.08772838115692139, + 0.21877969801425934 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 330, + 492, + 579, + 698 + ], + "metal bowl": [ + 518, + 685, + 796, + 994 + ], + "stovetop": [ + 9, + 404, + 702, + 970 + ], + "spoon": [ + 36, + 714, + 342, + 945 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.29623112082481384, + -0.00988511461764574, + 0.0030455433297902346, + -3.096222162246704, + 0.0910368263721466, + 0.21233107149600983 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29860222339630127, + -0.014263234101235867, + 0.00212582154199481, + -3.0934605598449707, + 0.08908911794424057, + 0.17780503630638123 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3009328246116638, + -0.033985067158937454, + 0.00015070087101776153, + -3.100464344024658, + 0.0911371186375618, + 0.10425741225481033 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3092963397502899, + -0.06343802809715271, + -0.0002570571086835116, + -3.0980494022369385, + 0.08290204405784607, + 0.0010413785930722952 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 426, + 492, + 673, + 712 + ], + "metal bowl": [ + 517, + 688, + 797, + 994 + ], + "spoon": [ + 36, + 715, + 342, + 945 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31315329670906067, + -0.07942341268062592, + -0.0009446144104003906, + -3.096196413040161, + 0.09041637927293777, + -0.04730065166950226 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3170721232891083, + -0.09259557723999023, + -0.0014127487083896995, + -3.0880255699157715, + 0.08877315372228622, + -0.09595569968223572 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot has approached and aligned over the green cloth on the stovetop. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate sliding the cloth toward the top-right corner while maintaining open-gripper contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31907591223716736, + -0.09341832995414734, + -0.0021787574514746666, + -3.08652925491333, + 0.09155449271202087, + -0.14227882027626038 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32003721594810486, + -0.09223346412181854, + -0.000589405361097306, + -3.079124689102173, + 0.08579101413488388, + -0.14991585910320282 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180362284183502, + -0.0910017117857933, + 0.004117592237889767, + -3.078293561935425, + 0.08881935477256775, + -0.1492062360048294 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3151460886001587, + -0.08948391675949097, + 0.013523801229894161, + -3.072756052017212, + 0.0969708189368248, + -0.14431904256343842 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3169494867324829, + -0.09106975793838501, + 0.023805003613233566, + -3.086700677871704, + 0.09031552076339722, + -0.14305716753005981 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3270006775856018, + -0.09329324215650558, + 0.04422963410615921, + -3.1139450073242188, + 0.05468461662530899, + -0.13680848479270935 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.33119550347328186, + -0.09471207857131958, + 0.05665353685617447, + -3.1306748390197754, + 0.0635119080543518, + -0.1306956261396408 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32914671301841736, + -0.08739315718412399, + 0.06531541049480438, + -3.1359925270080566, + 0.0906078964471817, + -0.11488644033670425 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3321060240268707, + -0.07362363487482071, + 0.07632821798324585, + -3.109419107437134, + 0.09622621536254883, + -0.09280144423246384 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "slide cloth to target", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33406615257263184, + -0.034986887127161026, + 0.08084885776042938, + -3.0868217945098877, + 0.0913381427526474, + -0.0260502677410841 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the green cloth on the stovetop, having already approached and aligned with it. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue sliding the cloth toward the top-right corner of the kitchen." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3240112066268921, + 0.01523495465517044, + 0.09241795539855957, + -3.0327188968658447, + 0.08162491023540497, + 0.03369368612766266 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 506, + 495, + 749, + 749 + ], + "metal bowl": [ + 517, + 683, + 796, + 994 + ], + "spoon": [ + 36, + 714, + 342, + 945 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is already positioned at the top-right of the stovetop. The robot’s end-effector is elevated and retreating, with no gripper closure or contact — consistent with release-and-retreat phase. Next action: continue moving away from the cloth to complete subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31517672538757324, + 0.05905327945947647, + 0.0998402014374733, + -3.025073289871216, + 0.07620663195848465, + 0.07263925671577454 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the top right of the kitchen." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "align over cloth" + }, + { + "id": 3, + "subtask": "make contact with cloth" + }, + { + "id": 4, + "subtask": "slide cloth to target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is already positioned at the top-right of the stovetop. The robot’s end-effector is elevated and retreating, with no gripper closure or contact — consistent with release-and-retreat phase. Next action: continue moving away from the cloth to complete subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000829_ecot.json b/cot/chunk-0000/episode_0000829_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7159d8748bf7d8364b11606111cf7e93f3e475e2 --- /dev/null +++ b/cot/chunk-0000/episode_0000829_ecot.json @@ -0,0 +1,2020 @@ +{ + "task_name": "episode_0000829", + "episode_json": "json/chunk-0000/episode_0000829.json", + "video_path": "videos/chunk-0000/image_0/episode_0000829.mp4", + "instruction": "The red thing moved from cloth to table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000829.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.43514007329940796, + "std": 0.20244453847408295, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.43514, std=0.20244, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red object on cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector from initial position toward the red object located on the green cloth.\"},\n {\"id\": 2, \"name\": \"close gripper to grasp red object\", \"start\": 7, \"end\": 14, \"planning\": \"Gripper closes around the red object while maintaining contact with the cloth surface; confirmed by gripper value drop and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and transport red object off cloth\", \"start\": 15, \"end\": 22, \"planning\": \"Lift the grasped red object slightly and begin moving it laterally away from the cloth toward the table surface.\"},\n {\"id\": 4, \"name\": \"place red object on table and release\", \"start\": 23, \"end\": 30, \"planning\": \"Lower the red object onto the wooden table surface and open gripper to release it, completing the transfer from cloth to table.\"}\n ],\n \"global_plan\": \"Transfer the red object from the green cloth to the adjacent wooden table by approaching, grasping, lifting, transporting, and releasing it in a continuous motion sequence.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.43283) consistent with grasping; Segment 2 shows gripper opening at end (end_minus_start=+0.43382), confirming release. All subtasks are contiguous and cover full trajectory [0,30]. Visuals confirm object movement from cloth to table.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red object on cloth", + "start": 0, + "end": 6, + "planning": "Move end-effector from initial position toward the red object located on the green cloth." + }, + { + "id": 2, + "name": "close gripper to grasp red object", + "start": 7, + "end": 14, + "planning": "Gripper closes around the red object while maintaining contact with the cloth surface; confirmed by gripper value drop and visual alignment." + }, + { + "id": 3, + "name": "lift and transport red object off cloth", + "start": 15, + "end": 22, + "planning": "Lift the grasped red object slightly and begin moving it laterally away from the cloth toward the table surface." + }, + { + "id": 4, + "name": "place red object on table and release", + "start": 23, + "end": 30, + "planning": "Lower the red object onto the wooden table surface and open gripper to release it, completing the transfer from cloth to table." + } + ], + "global_plan": "Transfer the red object from the green cloth to the adjacent wooden table by approaching, grasping, lifting, transporting, and releasing it in a continuous motion sequence.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.43283) consistent with grasping; Segment 2 shows gripper opening at end (end_minus_start=+0.43382), confirming release. All subtasks are contiguous and cover full trajectory [0,30]. Visuals confirm object movement from cloth to table." + } + }, + "episode_goal": "Move the red object from the green cloth to the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.40686482191085815, + 0.1093934178352356, + 0.12569834291934967, + 3.0571370124816895, + -0.1869395524263382, + 0.996137797832489 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "approach red object on cloth", + "subtask_reasoning": "The red object is on the green cloth, and the robot's end-effector is positioned above it with the gripper open. No movement or grasping has occurred yet. The next action is to lower the gripper toward the red object to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4043775498867035, + 0.10896540433168411, + 0.10765927284955978, + 3.0863099098205566, + -0.1526256948709488, + 0.9899784922599792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "approach red object on cloth", + "subtask_reasoning": "The red object is on the green cloth, and the robot's end-effector is positioned above it with the gripper open. No movement or grasping has occurred yet. The next action is to lower the gripper toward the red object to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3880648910999298, + 0.10477883368730545, + 0.08420205861330032, + 3.107203483581543, + -0.11834341287612915, + 0.9483373761177063 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "approach red object on cloth", + "subtask_reasoning": "The red object is on the green cloth, and the robot's end-effector is positioned above it with the gripper open. No movement or grasping has occurred yet. The next action is to lower the gripper toward the red object to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676875829696655, + 0.11098957061767578, + 0.07862906903028488, + 3.0897605419158936, + -0.1694379299879074, + 0.9344790577888489 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "approach red object on cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, approaching the red object. No contact or grasping has occurred yet, as the gripper remains open and the object is still on the cloth. The next action should be to lower the end-effector to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34921228885650635, + 0.10854098200798035, + 0.07075002789497375, + 3.0939669609069824, + -0.17321506142616272, + 0.8777309060096741 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "approach red object on cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, approaching the red object. No contact or grasping has occurred yet, as the gripper remains open and the object is still on the cloth. The next action should be to lower the end-effector to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33205822110176086, + 0.11475333571434021, + 0.07319049537181854, + 3.062290668487549, + -0.20634520053863525, + 0.8418682217597961 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy car": [ + 226, + 482, + 310, + 622 + ], + "white bin": [ + 472, + 102, + 851, + 349 + ], + "green cloth": [ + 169, + 287, + 825, + 855 + ], + "blue toy car": [ + 540, + 807, + 652, + 933 + ], + "stovetop": [ + 811, + 189, + 994, + 407 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "approach red object on cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, approaching the red object. No contact or grasping has occurred yet, as the gripper remains open and the object is still on the cloth. The next action should be to lower the end-effector to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212478458881378, + 0.11422684788703918, + 0.06647203117609024, + 3.0638229846954346, + -0.2179977297782898, + 0.8127343654632568 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "approach red object on cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, approaching the red object. No contact or grasping has occurred yet, as the gripper remains open and the object is still on the cloth. The next action should be to lower the end-effector to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3138791024684906, + 0.1141677126288414, + 0.06272178143262863, + 3.075906991958618, + -0.23758532106876373, + 0.7914775013923645 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, approaching the red object. No contact or grasping has occurred yet, as the gripper remains open and the object is still on the cloth. The next action should be to lower the end-effector to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 5 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30766141414642334, + 0.1163732185959816, + 0.057788506150245667, + 3.1014187335968018, + -0.24644163250923157, + 0.787202000617981 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, approaching the red object. No contact or grasping has occurred yet, as the gripper remains open and the object is still on the cloth. The next action should be to lower the end-effector to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028460144996643, + 0.12074844539165497, + 0.05072523653507233, + 3.1327908039093018, + -0.2747398912906647, + 0.7916327118873596 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth, approaching the red object. No contact or grasping has occurred yet, as the gripper remains open and the object is still on the cloth. The next action should be to lower the end-effector to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 9 cm, move left 7 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30024176836013794, + 0.12137752771377563, + 0.03815704956650734, + 3.1380856037139893, + -0.2865259051322937, + 0.7882728576660156 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bin": [ + 471, + 103, + 851, + 348 + ], + "green cloth": [ + 169, + 287, + 825, + 855 + ], + "red toy car": [ + 221, + 483, + 310, + 624 + ], + "blue toy car": [ + 539, + 807, + 652, + 933 + ], + "stovetop": [ + 809, + 189, + 994, + 408 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 11 cm, move left 8 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30091795325279236, + 0.12180913984775543, + 0.02570238523185253, + 3.1323373317718506, + -0.2896239757537842, + 0.8077749013900757 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 13 cm, move left 9 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30323293805122375, + 0.12249021977186203, + 0.018734734505414963, + 3.1097562313079834, + -0.28815776109695435, + 0.8422154188156128 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 14 cm, move left 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047754764556885, + 0.124043770134449, + 0.018593478947877884, + 3.065051555633545, + -0.2829439043998718, + 0.8754494190216064 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 14 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005162179470062, + 0.12073994427919388, + 0.021130243316292763, + 3.033315896987915, + -0.22658075392246246, + 0.888752281665802 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "close gripper to grasp red object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 14 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30866390466690063, + 0.12201052159070969, + 0.039327818900346756, + 2.9965639114379883, + -0.14386484026908875, + 0.9451189041137695 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3310881555080414, + 0.13325679302215576, + 0.06991174072027206, + 2.9761714935302734, + -0.12878382205963135, + 0.996786892414093 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bin": [ + 471, + 103, + 850, + 349 + ], + "green cloth": [ + 165, + 286, + 823, + 856 + ], + "red toy car": [ + 214, + 340, + 315, + 467 + ], + "blue toy car": [ + 538, + 807, + 652, + 935 + ], + "stovetop": [ + 810, + 189, + 994, + 407 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541886508464813, + 0.15142114460468292, + 0.06819871068000793, + 3.011197566986084, + -0.14481709897518158, + 1.0414704084396362 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly above the red object on the green cloth, having completed the approach phase. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring or imminent. The next immediate action is to close the gripper fingers to securely grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 8 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3734695017337799, + 0.17153996229171753, + 0.06672593951225281, + 3.044109344482422, + -0.2212836891412735, + 1.0273715257644653 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39944443106651306, + 0.18740782141685486, + 0.06574384868144989, + 3.047334671020508, + -0.24062323570251465, + 1.0307838916778564 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4184325337409973, + 0.20360252261161804, + 0.059657417237758636, + 3.04192852973938, + -0.24607230722904205, + 1.0672978162765503 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 2 cm, open gripper; then move back 4 cm, move right 2 cm, move up 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.43865901231765747, + 0.21514996886253357, + 0.05257495120167732, + 3.0503830909729004, + -0.2500951886177063, + 1.0992027521133423 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 4 cm, move right 2 cm, move up 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.44883987307548523, + 0.2235204130411148, + 0.041515201330184937, + 3.0668065547943115, + -0.251755028963089, + 1.1293245553970337 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "lift and transport red object off cloth", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 4 cm, move right 2 cm, move up 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.44993340969085693, + 0.2281331717967987, + 0.03575960174202919, + 3.084203004837036, + -0.26479870080947876, + 1.1378018856048584 + ], + "gripper_value": 0.566997230052948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4507642388343811, + 0.2300959676504135, + 0.03709569573402405, + 3.0829529762268066, + -0.27912527322769165, + 1.1421382427215576 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 11 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4517929255962372, + 0.22887790203094482, + 0.03566621616482735, + 3.0747902393341064, + -0.27905720472335815, + 1.1466126441955566 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently on the green cloth, and the gripper is closed around it. The robot has completed approaching and grasping the object. The next action is to lift the red object off the cloth and begin transporting it toward the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4509560763835907, + 0.2245330959558487, + 0.030935203656554222, + 3.058772325515747, + -0.25102120637893677, + 1.158065915107727 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently held by the gripper above the wooden table, having been lifted from the green cloth. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being placed. The next action is to ensure stable placement and confirm release completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4524628818035126, + 0.21963971853256226, + 0.04712120071053505, + 3.013037919998169, + -0.241371750831604, + 1.1750023365020752 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently held by the gripper above the wooden table, having been lifted from the green cloth. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being placed. The next action is to ensure stable placement and confirm release completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 10 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4478144347667694, + 0.21576742827892303, + 0.0807611346244812, + 2.9293692111968994, + -0.24435892701148987, + 1.1998486518859863 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy car": [ + 238, + 249, + 325, + 359 + ], + "white bin": [ + 474, + 102, + 851, + 347 + ], + "green cloth": [ + 166, + 286, + 823, + 856 + ], + "blue toy car": [ + 538, + 808, + 651, + 933 + ], + "stovetop": [ + 810, + 190, + 994, + 406 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently held by the gripper above the wooden table, having been lifted from the green cloth. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being placed. The next action is to ensure stable placement and confirm release completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.43243834376335144, + 0.21647091209888458, + 0.11468902975320816, + 2.838538408279419, + -0.2410903424024582, + 1.2351082563400269 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently held by the gripper above the wooden table, having been lifted from the green cloth. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being placed. The next action is to ensure stable placement and confirm release completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4138169586658478, + 0.21180734038352966, + 0.15132375061511993, + 2.748986005783081, + -0.2421465516090393, + 1.2586510181427002 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the green cloth to the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object on cloth" + }, + { + "id": 2, + "subtask": "close gripper to grasp red object" + }, + { + "id": 3, + "subtask": "lift and transport red object off cloth" + }, + { + "id": 4, + "subtask": "place red object on table and release" + } + ], + "subtask_name": "place red object on table and release", + "subtask_reasoning": "The red object is currently held by the gripper above the wooden table, having been lifted from the green cloth. The gripper is open (value ~1.0), indicating the object has been released or is in the process of being placed. The next action is to ensure stable placement and confirm release completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000830_ecot.json b/cot/chunk-0000/episode_0000830_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2cb4e83c0268ba7de9077557293ffc7ae52fe766 --- /dev/null +++ b/cot/chunk-0000/episode_0000830_ecot.json @@ -0,0 +1,2077 @@ +{ + "task_name": "episode_0000830", + "episode_json": "json/chunk-0000/episode_0000830.json", + "video_path": "videos/chunk-0000/image_0/episode_0000830.mp4", + "instruction": "Put the metal pot on the purple cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000830.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9304611086845398, + "std": 0.4236229658126831, + "delta_total": -0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93046, std=0.42362, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 110, + 110, + 110, + 10, + 10, + 10, + 10, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 225, + 225, + 225, + 225, + 225 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 12 + ], + [ + 3, + 13, + 16 + ], + [ + 4, + 17, + 24 + ], + [ + 5, + 25, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach metal pot\", \"start\": 0, \"end\": 9, \"planning\": \"Move the gripper from initial position toward the metal pot while closing fingers to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp metal pot\", \"start\": 10, \"end\": 12, \"planning\": \"Complete finger closure around the pot handle and confirm secure grip before lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport pot\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the pot clear of the table and move it horizontally toward the purple cloth location.\"},\n {\"id\": 4, \"name\": \"place pot on cloth\", \"start\": 17, \"end\": 24, \"planning\": \"Lower the pot onto the purple cloth with controlled descent and release grip after contact.\"},\n {\"id\": 5, \"name\": \"retreat from placement\", \"start\": 25, \"end\": 29, \"planning\": \"Open gripper fully and withdraw arm upward and away from the placed pot to complete task.\"}\n ],\n \"global_plan\": \"Approach the metal pot, grasp it securely, lift and carry it over to the purple cloth, place it down gently, then retreat to finish.\",\n \"notes\": \"Gripper evidence supports grasp in segments 1-2 (closing motion), hold during 3-4, and release in 5. Images confirm pot is lifted and placed on cloth. No hallucination — all phases match observed motion and gripper state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach metal pot", + "start": 0, + "end": 9, + "planning": "Move the gripper from initial position toward the metal pot while closing fingers to prepare for grasp." + }, + { + "id": 2, + "name": "grasp metal pot", + "start": 10, + "end": 12, + "planning": "Complete finger closure around the pot handle and confirm secure grip before lifting." + }, + { + "id": 3, + "name": "lift and transport pot", + "start": 13, + "end": 16, + "planning": "Lift the pot clear of the table and move it horizontally toward the purple cloth location." + }, + { + "id": 4, + "name": "place pot on cloth", + "start": 17, + "end": 24, + "planning": "Lower the pot onto the purple cloth with controlled descent and release grip after contact." + }, + { + "id": 5, + "name": "retreat from placement", + "start": 25, + "end": 29, + "planning": "Open gripper fully and withdraw arm upward and away from the placed pot to complete task." + } + ], + "global_plan": "Approach the metal pot, grasp it securely, lift and carry it over to the purple cloth, place it down gently, then retreat to finish.", + "notes": "Gripper evidence supports grasp in segments 1-2 (closing motion), hold during 3-4, and release in 5. Images confirm pot is lifted and placed on cloth. No hallucination — all phases match observed motion and gripper state." + } + }, + "episode_goal": "Place the metal pot on the purple cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26729634404182434, + -0.020675066858530045, + 0.11042312532663345, + 3.0874900817871094, + -0.1706658899784088, + 0.01641692966222763 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the counter with the metal pot visible in the background and the purple cloth in the foreground. No actions have been completed yet as the robot is just starting to approach the target area. The next step is to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move down 10 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2671900689601898, + -0.021270647644996643, + 0.10148750990629196, + 3.087419033050537, + -0.13963359594345093, + 0.021721962839365005 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the counter with the metal pot visible in the background and the purple cloth in the foreground. No actions have been completed yet as the robot is just starting to approach the target area. The next step is to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2988666296005249, + -0.02200179733335972, + 0.09314266592264175, + 3.0887742042541504, + -0.15724393725395203, + 0.043271128088235855 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the counter with the metal pot visible in the background and the purple cloth in the foreground. No actions have been completed yet as the robot is just starting to approach the target area. The next step is to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move down 8 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296930193901062, + -0.024853667244315147, + 0.08305159956216812, + 3.0749905109405518, + -0.17667892575263977, + 0.0671154111623764 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the counter with the metal pot visible in the background and the purple cloth in the foreground. No actions have been completed yet as the robot is just starting to approach the target area. The next step is to move the end effector closer to the metal pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 1 cm, move down 7 cm, close gripper; then move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37078437209129333, + -0.02966352552175522, + 0.07270663976669312, + 3.0989229679107666, + -0.2001742422580719, + 0.06623262166976929 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot and purple cloth visible. The gripper is open and approaching the metal pot, with no grasp yet initiated. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4040393829345703, + -0.03301650658249855, + 0.06428763270378113, + 3.093095064163208, + -0.208136186003685, + 0.09565947949886322 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot and purple cloth visible. The gripper is open and approaching the metal pot, with no grasp yet initiated. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.42267248034477234, + -0.03359552472829819, + 0.05079815536737442, + 3.0884156227111816, + -0.21008774638175964, + 0.12305638194084167 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot and purple cloth visible. The gripper is open and approaching the metal pot, with no grasp yet initiated. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4263668954372406, + -0.02753240056335926, + 0.026453521102666855, + 3.097874879837036, + -0.1508593112230301, + 0.14305618405342102 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot and purple cloth visible. The gripper is open and approaching the metal pot, with no grasp yet initiated. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.42677050828933716, + -0.02471129409968853, + 0.013785085640847683, + 3.1034340858459473, + -0.1113252192735672, + 0.14796015620231628 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple cloth": [ + 177, + 408, + 472, + 712 + ], + "spoon": [ + 579, + 466, + 710, + 806 + ], + "toy control panel": [ + 276, + 2, + 636, + 233 + ], + "strainer": [ + 447, + 230, + 643, + 440 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot and purple cloth visible. The gripper is open and approaching the metal pot, with no grasp yet initiated. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.42729824781417847, + -0.02141314186155796, + 0.012567189522087574, + 3.1006009578704834, + -0.10611490160226822, + 0.1564270406961441 + ], + "gripper_value": 0.710151195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "approach metal pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot and purple cloth visible. The gripper is open and approaching the metal pot, with no grasp yet initiated. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.42638373374938965, + -0.01868465170264244, + 0.010534776374697685, + 3.098789930343628, + -0.10619187355041504, + 0.14679060876369476 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp metal pot", + "subtask_reasoning": "The robot is positioned above the countertop with the metal pot and purple cloth visible. The gripper is open and approaching the metal pot, with no grasp yet initiated. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4253377914428711, + -0.019644469022750854, + 0.011024094186723232, + 3.1077475547790527, + -0.10757224261760712, + 0.15081696212291718 + ], + "gripper_value": 0.19087372720241547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp metal pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden counter, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.42151105403900146, + -0.02083425596356392, + 0.011220434680581093, + 3.1359198093414307, + -0.1250438690185547, + 0.17812737822532654 + ], + "gripper_value": 0.10633110255002975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "grasp metal pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden counter, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4087013304233551, + -0.011557389982044697, + 0.02214689925312996, + -3.101893663406372, + -0.20488904416561127, + 0.3333221673965454 + ], + "gripper_value": 0.08606764674186707 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the metal pot on the wooden counter, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the pot. The next action is to fully close the gripper to establish a firm hold before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987356126308441, + -0.012990311719477177, + 0.06876663863658905, + -3.0592355728149414, + -0.34460458159446716, + 0.40390899777412415 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot is currently holding the metal pot above the wooden surface, having successfully grasped and lifted it. The purple cloth is visible nearby on the table, serving as the target destination. The next action is to transport the pot over the cloth and lower it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36905041337013245, + -0.009407684206962585, + 0.12284772843122482, + -3.0501580238342285, + -0.45123490691185, + 0.4199461042881012 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot is currently holding the metal pot above the wooden surface, having successfully grasped and lifted it. The purple cloth is visible nearby on the table, serving as the target destination. The next action is to transport the pot over the cloth and lower it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3360210657119751, + -0.005362787749618292, + 0.12323977053165436, + -3.1215147972106934, + -0.3904575705528259, + 0.4499160647392273 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot is currently holding the metal pot above the wooden surface, having successfully grasped and lifted it. The purple cloth is visible nearby on the table, serving as the target destination. The next action is to transport the pot over the cloth and lower it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30729368329048157, + 0.0162357110530138, + 0.10017992556095123, + 3.108821392059326, + -0.28065866231918335, + 0.5038372278213501 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The robot is currently holding the metal pot above the wooden surface, having successfully grasped and lifted it. The purple cloth is visible nearby on the table, serving as the target destination. The next action is to transport the pot over the cloth and lower it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986481487751007, + 0.036241158843040466, + 0.07888887822628021, + 3.004317283630371, + -0.210688516497612, + 0.5166874527931213 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The robot is currently holding the metal pot above the wooden surface, having successfully grasped and lifted it. The purple cloth is visible nearby on the table, serving as the target destination. The next action is to transport the pot over the cloth and lower it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948680520057678, + 0.04017285630106926, + 0.060813914984464645, + 2.9686694145202637, + -0.17280523478984833, + 0.49645745754241943 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy control panel": [ + 433, + 3, + 662, + 236 + ], + "tomato sauce": [ + 638, + 41, + 783, + 299 + ], + "purple cloth": [ + 174, + 480, + 473, + 715 + ], + "strainer": [ + 215, + 343, + 436, + 619 + ], + "spoon": [ + 579, + 467, + 707, + 805 + ], + "green beans": [ + 768, + 132, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The robot is currently holding the metal pot above the wooden surface, having successfully grasped and lifted it. The purple cloth is visible nearby on the table, serving as the target destination. The next action is to transport the pot over the cloth and lower it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28989437222480774, + 0.04407667741179466, + 0.04945293068885803, + 2.9761455059051514, + -0.13527360558509827, + 0.5147885084152222 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato sauce": [ + 638, + 41, + 782, + 299 + ], + "toy control panel": [ + 405, + 3, + 667, + 237 + ], + "strainer": [ + 209, + 371, + 434, + 644 + ], + "purple cloth": [ + 173, + 478, + 473, + 715 + ], + "spoon": [ + 579, + 467, + 707, + 805 + ], + "green beans": [ + 769, + 132, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the purple cloth on the wooden table. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot gently onto the cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper; then move forward 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.289165735244751, + 0.04356289654970169, + 0.04611315578222275, + 2.9794254302978516, + -0.12016784399747849, + 0.5249864459037781 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the purple cloth on the wooden table. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot gently onto the cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper; then move forward 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.286224901676178, + 0.04139578342437744, + 0.04565014690160751, + 2.990039110183716, + -0.1024615466594696, + 0.5339944362640381 + ], + "gripper_value": 0.07689721137285233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the purple cloth on the wooden table. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot gently onto the cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808327376842499, + 0.0365251824259758, + 0.0420505665242672, + 3.0027856826782227, + -0.08740298449993134, + 0.5346522331237793 + ], + "gripper_value": 0.11493317037820816 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the purple cloth on the wooden table. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot gently onto the cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27995938062667847, + 0.03212537243962288, + 0.04083434119820595, + 2.9995198249816895, + -0.07968007773160934, + 0.552168071269989 + ], + "gripper_value": 0.30417895317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "place pot on cloth", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the purple cloth on the wooden table. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot gently onto the cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27995964884757996, + 0.030711371451616287, + 0.04036491736769676, + 3.0002951622009277, + -0.07548467814922333, + 0.5697590112686157 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the purple cloth on the wooden table. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot gently onto the cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805273234844208, + 0.02466769888997078, + 0.04170004650950432, + 2.9958035945892334, + -0.07805521041154861, + 0.5319929718971252 + ], + "gripper_value": 0.8990517854690552 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The metal pot is currently held by the gripper and positioned directly above the purple cloth on the wooden table. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot gently onto the cloth to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28485310077667236, + 0.02108960971236229, + 0.07156745344400406, + 2.9770073890686035, + -0.14575353264808655, + 0.40392979979515076 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The metal pot is successfully placed on the purple cloth, and the gripper is open and no longer in contact with the pot. The robot has completed the placement and is now retreating from the scene. The next action is to continue moving the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882290482521057, + 0.015412713401019573, + 0.08063843846321106, + 2.990003824234009, + -0.1656586080789566, + 0.25306904315948486 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The metal pot is successfully placed on the purple cloth, and the gripper is open and no longer in contact with the pot. The robot has completed the placement and is now retreating from the scene. The next action is to continue moving the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29607459902763367, + 0.011821715161204338, + 0.09347909688949585, + 3.0393147468566895, + -0.1763763576745987, + 0.08940546214580536 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pot on the purple cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach metal pot" + }, + { + "id": 2, + "subtask": "grasp metal pot" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on cloth" + }, + { + "id": 5, + "subtask": "retreat from placement" + } + ], + "subtask_name": "retreat from placement", + "subtask_reasoning": "The metal pot is successfully placed on the purple cloth, and the gripper is open and no longer in contact with the pot. The robot has completed the placement and is now retreating from the scene. The next action is to continue moving the arm away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000831_ecot.json b/cot/chunk-0000/episode_0000831_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..34c1bd10d537aa08004ab82455eba3113858692e --- /dev/null +++ b/cot/chunk-0000/episode_0000831_ecot.json @@ -0,0 +1,1613 @@ +{ + "task_name": "episode_0000831", + "episode_json": "json/chunk-0000/episode_0000831.json", + "video_path": "videos/chunk-0000/image_0/episode_0000831.mp4", + "instruction": "Take spatula off plate sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000831.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.648038387298584, + "std": 0.2923440635204315, + "delta_total": -0.0032911300659179688, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64804, std=0.29234, total_delta=-0.00329). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 11, + 11, + 11, + 11, + 211, + 211, + 211, + 211, + 211, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 11 + ], + [ + 3, + 12, + 15 + ], + [ + 4, + 16, + 20 + ], + [ + 5, + 21, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula in sink\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector down toward the spatula resting on the plate in the sink, with gripper closing initiated near the end of this phase.\"},\n {\"id\": 2, \"name\": \"secure grip on spatula\", \"start\": 11, \"end\": 11, \"planning\": \"Finalize gripper closure to firmly hold the spatula handle while maintaining position over the sink.\"},\n {\"id\": 3, \"name\": \"lift spatula from plate\", \"start\": 12, \"end\": 15, \"planning\": \"Raise the gripper vertically to lift the spatula off the blue plate, clearing it from the sink basin.\"},\n {\"id\": 4, \"name\": \"reposition spatula above sink\", \"start\": 16, \"end\": 20, \"planning\": \"Translate the held spatula slightly forward and upward within the sink area, preparing for release or next action.\"},\n {\"id\": 5, \"name\": \"release spatula and retreat\", \"start\": 21, \"end\": 22, \"planning\": \"Open gripper to release the spatula onto the sink surface or plate, then begin retracting the arm upward.\"}\n ],\n \"global_plan\": \"Approach the spatula in the sink, grasp it securely, lift it off the plate, reposition it slightly within the sink area, then release and retreat.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-10) with significant delta (-0.32692), allowing 'grasp' wording starting at frame 11 where gripper is fully closed. Lifting is visually supported by z-coordinate increase from frame 12 onward. Release is indicated by gripper opening in Segments 4–5 (frames 16–22).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula in sink", + "start": 0, + "end": 10, + "planning": "Move end-effector down toward the spatula resting on the plate in the sink, with gripper closing initiated near the end of this phase." + }, + { + "id": 2, + "name": "secure grip on spatula", + "start": 11, + "end": 11, + "planning": "Finalize gripper closure to firmly hold the spatula handle while maintaining position over the sink." + }, + { + "id": 3, + "name": "lift spatula from plate", + "start": 12, + "end": 15, + "planning": "Raise the gripper vertically to lift the spatula off the blue plate, clearing it from the sink basin." + }, + { + "id": 4, + "name": "reposition spatula above sink", + "start": 16, + "end": 20, + "planning": "Translate the held spatula slightly forward and upward within the sink area, preparing for release or next action." + }, + { + "id": 5, + "name": "release spatula and retreat", + "start": 21, + "end": 22, + "planning": "Open gripper to release the spatula onto the sink surface or plate, then begin retracting the arm upward." + } + ], + "global_plan": "Approach the spatula in the sink, grasp it securely, lift it off the plate, reposition it slightly within the sink area, then release and retreat.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-10) with significant delta (-0.32692), allowing 'grasp' wording starting at frame 11 where gripper is fully closed. Lifting is visually supported by z-coordinate increase from frame 12 onward. Release is indicated by gripper opening in Segments 4–5 (frames 16–22)." + } + }, + "episode_goal": "Grasp the green spatula in the sink and lift it out of the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32520991563796997, + -0.012463605031371117, + 0.08397635817527771, + -2.9886317253112793, + -0.25745102763175964, + 0.3379596769809723 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot is positioned above the sink with the green spatula visible on a blue plate below. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 10 cm, tilt right 20 degrees, rotate counterclockwise 70 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32221919298171997, + -0.013206621631979942, + 0.07507674396038055, + -2.9790945053100586, + -0.22742141783237457, + 0.32163792848587036 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot is positioned above the sink with the green spatula visible on a blue plate below. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32327544689178467, + -0.019386135041713715, + 0.06382688879966736, + -2.9676663875579834, + -0.18140608072280884, + 0.07027525454759598 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot is positioned above the sink with the green spatula visible on a blue plate below. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31862831115722656, + -0.025548767298460007, + 0.04788944870233536, + -2.944479465484619, + -0.14632783830165863, + -0.18908923864364624 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot is positioned above the sink with the green spatula visible on a blue plate below. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, close gripper; then keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166893720626831, + -0.03160330653190613, + 0.03537781909108162, + -2.9791572093963623, + -0.12358934432268143, + -0.4476441442966461 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot is positioned above the sink with the green spatula visible on a blue plate below. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117489516735077, + -0.03323263302445412, + 0.024898028001189232, + -3.0404293537139893, + -0.08207312971353531, + -0.668036699295044 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector near the green spatula resting on a blue plate. No grasping has occurred yet, as the gripper remains open. The next action should involve lowering the arm slightly to align the gripper with the spatula for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move forward 2 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30819499492645264, + -0.030255107209086418, + 0.012388237752020359, + -3.0492124557495117, + -0.0450272299349308, + -0.7162007093429565 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 293, + 30, + 423, + 286 + ], + "sink": [ + 286, + 210, + 906, + 749 + ], + "tomato": [ + 238, + 229, + 346, + 363 + ], + "scrubber": [ + 546, + 534, + 742, + 634 + ], + "plate": [ + 527, + 484, + 757, + 697 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector near the green spatula resting on a blue plate. No grasping has occurred yet, as the gripper remains open. The next action should involve lowering the arm slightly to align the gripper with the spatula for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move forward 3 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019316792488098, + -0.02771170437335968, + 0.004964733496308327, + -3.0477709770202637, + -0.047146182507276535, + -0.7481920123100281 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 287, + 207, + 905, + 750 + ], + "bottle": [ + 291, + 34, + 436, + 286 + ], + "plate": [ + 525, + 481, + 755, + 697 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector near the green spatula resting on a blue plate. No grasping has occurred yet, as the gripper remains open. The next action should involve lowering the arm slightly to align the gripper with the spatula for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then keep gripper closed; then move forward 3 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2991560399532318, + -0.02683919295668602, + 0.00043782434659078717, + -3.0474917888641357, + -0.04715670645236969, + -0.772770881652832 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector near the green spatula resting on a blue plate. No grasping has occurred yet, as the gripper remains open. The next action should involve lowering the arm slightly to align the gripper with the spatula for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then keep gripper closed; then move forward 3 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948332130908966, + -0.027369607239961624, + -0.00739610381424427, + -3.0870940685272217, + -0.0012750058667734265, + -0.7829594016075134 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector near the green spatula resting on a blue plate. No grasping has occurred yet, as the gripper remains open. The next action should involve lowering the arm slightly to align the gripper with the spatula for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 3 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2989148497581482, + -0.029527783393859863, + -0.01152243372052908, + -3.1176235675811768, + 0.02033909410238266, + -0.7865877747535706 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "approach spatula in sink", + "subtask_reasoning": "The robot arm is positioned above the sink, with the end-effector near the green spatula resting on a blue plate. No grasping has occurred yet, as the gripper remains open. The next action should involve lowering the arm slightly to align the gripper with the spatula for secure contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move forward 3 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994344234466553, + -0.03095759078860283, + -0.015240629203617573, + -3.1249988079071045, + 0.02996297925710678, + -0.7866318225860596 + ], + "gripper_value": 0.3806030750274658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "secure grip on spatula", + "subtask_reasoning": "The robot arm is positioned over the green spatula in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask requires closing the gripper to establish a secure hold on the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29919323325157166, + -0.03510556370019913, + -0.012919936329126358, + 3.128973960876465, + 0.025133874267339706, + -0.7787914276123047 + ], + "gripper_value": 0.35606881976127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "lift spatula from plate", + "subtask_reasoning": "The robot arm is positioned over the green spatula in the sink, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask requires closing the gripper to establish a secure hold on the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3029675781726837, + -0.03574522212147713, + -0.006980159319937229, + 3.096005439758301, + 0.012659236788749695, + -0.7637748122215271 + ], + "gripper_value": 0.3849146366119385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "lift spatula from plate", + "subtask_reasoning": "The robot has approached the green spatula in the sink and secured a grip on it. The current frame shows the gripper in contact with the spatula, ready to lift it from the plate. The next action is to lift the spatula off the plate while maintaining a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3089475929737091, + -0.03244330361485481, + 0.0097760409116745, + 3.0626511573791504, + -0.04656516760587692, + -0.718878984451294 + ], + "gripper_value": 0.3883807957172394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "lift spatula from plate", + "subtask_reasoning": "The robot has approached the green spatula in the sink and secured a grip on it. The current frame shows the gripper in contact with the spatula, ready to lift it from the plate. The next action is to lift the spatula off the plate while maintaining a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32223495841026306, + -0.013895602896809578, + 0.02809843048453331, + 3.133373260498047, + -0.13990533351898193, + -0.6466916799545288 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "lift spatula from plate", + "subtask_reasoning": "The robot has approached the green spatula in the sink and secured a grip on it. The current frame shows the gripper in contact with the spatula, ready to lift it from the plate. The next action is to lift the spatula off the plate while maintaining a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed; then move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244238495826721, + 0.012226104736328125, + 0.029268229380249977, + -3.136643648147583, + -0.15576402842998505, + -0.5870375037193298 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "reposition spatula above sink", + "subtask_reasoning": "The robot has approached the green spatula in the sink and secured a grip on it. The current frame shows the gripper in contact with the spatula, ready to lift it from the plate. The next action is to lift the spatula off the plate while maintaining a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32707005739212036, + 0.030428500846028328, + 0.027692006900906563, + -3.0994856357574463, + -0.16054180264472961, + -0.5200240015983582 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plate": [ + 529, + 477, + 754, + 698 + ], + "sink": [ + 287, + 209, + 903, + 750 + ], + "bottle": [ + 289, + 27, + 435, + 285 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "reposition spatula above sink", + "subtask_reasoning": "The robot has approached the green spatula in the sink and secured a grip on it. The current frame shows the gripper in contact with the spatula, ready to lift it from the plate. The next action is to lift the spatula off the plate while maintaining a secure hold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272700309753418, + 0.039615046232938766, + 0.012311411090195179, + -3.083536148071289, + -0.1449722796678543, + -0.36613431572914124 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "reposition spatula above sink", + "subtask_reasoning": "The robot is currently holding the green spatula above the sink, having successfully lifted it from the blue plate. The gripper is closed, and the arm is positioned to reposition the object. The next action is to slightly adjust the spatula's position within the sink area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32625821232795715, + 0.04128121957182884, + -0.0048849075101315975, + -3.0687780380249023, + -0.1109340488910675, + -0.2971568703651428 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "reposition spatula above sink", + "subtask_reasoning": "The robot is currently holding the green spatula above the sink, having successfully lifted it from the blue plate. The gripper is closed, and the arm is positioned to reposition the object. The next action is to slightly adjust the spatula's position within the sink area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32699811458587646, + 0.04087354615330696, + -0.017068443819880486, + -3.0410332679748535, + -0.06830506026744843, + -0.20345403254032135 + ], + "gripper_value": 0.43382158875465393 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "reposition spatula above sink", + "subtask_reasoning": "The robot is currently holding the green spatula above the sink, having successfully lifted it from the blue plate. The gripper is closed, and the arm is positioned to reposition the object. The next action is to slightly adjust the spatula's position within the sink area before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3247357904911041, + 0.039290450513362885, + -0.016677314415574074, + -3.0613675117492676, + -0.05172092467546463, + -0.16194848716259003 + ], + "gripper_value": 0.7642965912818909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "release spatula and retreat", + "subtask_reasoning": "The robot has successfully lifted the green spatula from the blue plate in the sink and is currently holding it above the basin. The gripper remains closed around the spatula handle, indicating the object is still secured. The next action is to open the gripper to release the spatula back into the sink and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257358968257904, + 0.040403641760349274, + -0.00575622171163559, + -3.0741076469421387, + -0.07400848716497421, + -0.12788014113903046 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green spatula in the sink and lift it out of the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula in sink" + }, + { + "id": 2, + "subtask": "secure grip on spatula" + }, + { + "id": 3, + "subtask": "lift spatula from plate" + }, + { + "id": 4, + "subtask": "reposition spatula above sink" + }, + { + "id": 5, + "subtask": "release spatula and retreat" + } + ], + "subtask_name": "release spatula and retreat", + "subtask_reasoning": "The robot has successfully lifted the green spatula from the blue plate in the sink and is currently holding it above the basin. The gripper remains closed around the spatula handle, indicating the object is still secured. The next action is to open the gripper to release the spatula back into the sink and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000833_ecot.json b/cot/chunk-0000/episode_0000833_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8abf251332f0bb3cc211caa7e631b05f8575bfdb --- /dev/null +++ b/cot/chunk-0000/episode_0000833_ecot.json @@ -0,0 +1,2331 @@ +{ + "task_name": "episode_0000833", + "episode_json": "json/chunk-0000/episode_0000833.json", + "video_path": "videos/chunk-0000/image_0/episode_0000833.mp4", + "instruction": "Move the yellow cheese from front to back end of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000833.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.18991267681121826, + "std": 0.07483132928609848, + "delta_total": -0.0013307929039001465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.18991, std=0.07483, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 33 + ], + [ + 3, + 34, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cheese\", \"start\": 0, \"end\": 4, \"planning\": \"Move the gripper toward the yellow cheese on the orange cloth without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp and lift cheese\", \"start\": 5, \"end\": 19, \"planning\": \"Close the gripper to grasp the yellow cheese and lift it slightly off the surface.\"},\n {\"id\": 3, \"name\": \"transport cheese to back\", \"start\": 20, \"end\": 33, \"planning\": \"Carry the grasped cheese toward the back end of the table while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 34, \"end\": 36, \"planning\": \"Open the gripper to release the cheese at the back position and retract the arm slightly.\"}\n ],\n \"global_plan\": \"Approach the yellow cheese, grasp and lift it, transport it to the back of the table, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closing — approach only. Segment 2 has significant gripper closure (range=0.18991) and image evidence supports grasping/lifting/transporting. Segment 3 shows no further gripper change — consistent with release and retreat after placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cheese", + "start": 0, + "end": 4, + "planning": "Move the gripper toward the yellow cheese on the orange cloth without closing the gripper." + }, + { + "id": 2, + "name": "grasp and lift cheese", + "start": 5, + "end": 19, + "planning": "Close the gripper to grasp the yellow cheese and lift it slightly off the surface." + }, + { + "id": 3, + "name": "transport cheese to back", + "start": 20, + "end": 33, + "planning": "Carry the grasped cheese toward the back end of the table while maintaining grip." + }, + { + "id": 4, + "name": "release and retreat", + "start": 34, + "end": 36, + "planning": "Open the gripper to release the cheese at the back position and retract the arm slightly." + } + ], + "global_plan": "Approach the yellow cheese, grasp and lift it, transport it to the back of the table, then release and retreat.", + "notes": "Segment 1 shows no gripper closing — approach only. Segment 2 has significant gripper closure (range=0.18991) and image evidence supports grasping/lifting/transporting. Segment 3 shows no further gripper change — consistent with release and retreat after placement." + } + }, + "episode_goal": "Move the yellow cheese from the front of the table to the back of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21288235485553741, + 0.05672168731689453, + 0.1078406497836113, + 3.0952439308166504, + -0.006572323851287365, + -0.10336098819971085 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cheese", + "subtask_reasoning": "The robot is positioned near the yellow cheese on the front-left of the table, with the gripper open and no contact yet. No part of the subtask has been completed. The next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21058674156665802, + 0.056373484432697296, + 0.1030990332365036, + 3.0862655639648438, + 0.014385433867573738, + -0.10652709752321243 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cheese", + "subtask_reasoning": "The robot is positioned near the yellow cheese on the front-left of the table, with the gripper open and no contact yet. No part of the subtask has been completed. The next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20243163406848907, + 0.08987168222665787, + 0.10075103491544724, + 3.08603572845459, + 0.03809438273310661, + -0.045880142599344254 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.19766560196876526, + 0.11556519567966461, + 0.09656846523284912, + 3.1029303073883057, + 0.015600800514221191, + -0.07575979828834534 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19223836064338684, + 0.1428452432155609, + 0.0913977175951004, + 3.131293773651123, + 0.015318753197789192, + -0.028382383286952972 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.19261810183525085, + 0.15544937551021576, + 0.08075496554374695, + -3.0948705673217773, + 0.04045092687010765, + 0.033507633954286575 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.20127062499523163, + 0.15717117488384247, + 0.0780041441321373, + -3.030895471572876, + 0.031157374382019043, + 0.08491221815347672 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21099567413330078, + 0.15109768509864807, + 0.06763558834791183, + -3.008239984512329, + 0.042551565915346146, + 0.09604930877685547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22636668384075165, + 0.14238867163658142, + 0.05772799998521805, + -2.9853570461273193, + 0.06404143571853638, + 0.07122726738452911 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 10, + 189, + 885, + 989 + ], + "orange cloth": [ + 72, + 344, + 364, + 625 + ], + "metal bowl": [ + 495, + 305, + 803, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2396520972251892, + 0.14087636768817902, + 0.04849397763609886, + -2.96409010887146, + 0.09086798131465912, + 0.040962137281894684 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 9, + 192, + 886, + 989 + ], + "orange cloth": [ + 73, + 383, + 363, + 624 + ], + "metal bowl": [ + 492, + 304, + 803, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25172582268714905, + 0.14162972569465637, + 0.041447386145591736, + -2.948503017425537, + 0.1147565245628357, + -0.006798465736210346 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25964412093162537, + 0.14349471032619476, + 0.04597042500972748, + -2.9422738552093506, + 0.12783390283584595, + -0.054732974618673325 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot arm is positioned near the yellow cheese on the front of the table, with the gripper open and no contact made yet. The subtask of approaching the cheese is in progress, and the next action should be to move the gripper closer to the cheese to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25884971022605896, + 0.14159931242465973, + 0.04535927623510361, + -2.958264112472534, + 0.136483833193779, + -0.0859547108411789 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24984772503376007, + 0.1385461539030075, + 0.044570885598659515, + -2.960705041885376, + 0.1411779671907425, + -0.09701346606016159 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2404520958662033, + 0.13872069120407104, + 0.03885229304432869, + -2.9586780071258545, + 0.11691732704639435, + -0.09892401099205017 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 8 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22794204950332642, + 0.14510372281074524, + 0.0369906909763813, + -2.940276622772217, + 0.09718898683786392, + -0.10290070623159409 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, close gripper; then move forward 10 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22150766849517822, + 0.15609043836593628, + 0.03373795002698898, + -2.93705153465271, + 0.08471185714006424, + -0.10317473113536835 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 11 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21784833073616028, + 0.16038696467876434, + 0.029117802157998085, + -2.955627679824829, + 0.09162352234125137, + -0.09971493482589722 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 12 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21767494082450867, + 0.16370254755020142, + 0.0267094187438488, + -2.965176820755005, + 0.09677254408597946, + -0.09151190519332886 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21873168647289276, + 0.1625492125749588, + 0.02622714824974537, + -2.9753317832946777, + 0.09825091809034348, + -0.08241759985685349 + ], + "gripper_value": 0.8408563733100891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cheese", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 14 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2185557335615158, + 0.16165144741535187, + 0.02694724127650261, + -2.9882137775421143, + 0.10886123776435852, + -0.08782607316970825 + ], + "gripper_value": 0.8399420380592346 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2308259755373001, + 0.15671886503696442, + 0.03740157559514046, + -3.009058713912964, + 0.10272888839244843, + -0.12020506709814072 + ], + "gripper_value": 0.8381108045578003 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 2 cm, move up 5 cm, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25623491406440735, + 0.15668845176696777, + 0.07738396525382996, + -2.9869790077209473, + 0.02564714103937149, + -0.12296834588050842 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 71, + 362, + 362, + 625 + ], + "wooden table": [ + 9, + 191, + 886, + 988 + ], + "white bin": [ + 834, + 385, + 996, + 844 + ], + "metal bowl": [ + 493, + 305, + 803, + 572 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move up 6 cm, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28142091631889343, + 0.15793204307556152, + 0.10348780453205109, + -2.9508767127990723, + -0.041867516934871674, + -0.11921461671590805 + ], + "gripper_value": 0.8270506262779236 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30219414830207825, + 0.15461981296539307, + 0.1001659408211708, + -2.938957929611206, + -0.06447257101535797, + -0.1212444081902504 + ], + "gripper_value": 0.8224069476127625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 13 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31886157393455505, + 0.15616431832313538, + 0.08735810965299606, + -2.9192614555358887, + -0.056034330278635025, + -0.09568163752555847 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot has approached the yellow cheese and is currently positioned above it with the gripper open. The gripper is beginning to close to grasp the cheese. The next action is to complete the grasp and lift the cheese slightly off the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 13 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.330998033285141, + 0.1541474312543869, + 0.06348856538534164, + -2.9208595752716064, + -0.0320235937833786, + -0.09132194519042969 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 13 cm, move up 9 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.34182363748550415, + 0.15574701130390167, + 0.04939279705286026, + -2.9337353706359863, + -0.030637351796030998, + -0.0920904278755188 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 13 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35034364461898804, + 0.15471450984477997, + 0.042041197419166565, + -2.9447367191314697, + -0.047066763043403625, + -0.1003243699669838 + ], + "gripper_value": 0.8598465323448181 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 13 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553827106952667, + 0.15276584029197693, + 0.03853977844119072, + -2.964721918106079, + -0.06088772043585777, + -0.09109361469745636 + ], + "gripper_value": 0.959831714630127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 13 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.35624343156814575, + 0.14961951971054077, + 0.03849799185991287, + -2.982865571975708, + -0.0789385437965393, + -0.09226899594068527 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 12 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3496120274066925, + 0.14096041023731232, + 0.08455251157283783, + -2.9772043228149414, + -0.1756320595741272, + -0.09733294695615768 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move up 7 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302331268787384, + 0.11029153317213058, + 0.13959363102912903, + -2.9755678176879883, + -0.2984831631183624, + -0.12596476078033447 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30095821619033813, + 0.06287484616041183, + 0.17039601504802704, + -3.0706894397735596, + -0.3174239993095398, + -0.14865322411060333 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport cheese to back", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27976492047309875, + 0.026021616533398628, + 0.15131151676177979, + 3.114691734313965, + -0.2340351641178131, + -0.1978040486574173 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the yellow cheese and is positioned over the front section of the table. Having completed the approach and grasp phases, the arm is now in the process of transporting the object toward the back of the table. The next action is to continue moving the end-effector backward to reach the target destination." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.26877498626708984, + 0.0021451087668538094, + 0.133525088429451, + 3.073941707611084, + -0.14118561148643494, + -0.20793263614177704 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 580, + 335, + 800, + 571 + ], + "orange cloth": [ + 71, + 339, + 363, + 626 + ], + "wooden table": [ + 10, + 190, + 886, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cheese has been successfully placed at the back of the table, and the gripper is fully open with no contact. The robot is now retreating from the release position, completing the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.26102158427238464, + -0.005070153158158064, + 0.12571834027767181, + 3.0596256256103516, + -0.08930321782827377, + -0.19032645225524902 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cheese from the front of the table to the back of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cheese" + }, + { + "id": 2, + "subtask": "grasp and lift cheese" + }, + { + "id": 3, + "subtask": "transport cheese to back" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow cheese has been successfully placed at the back of the table, and the gripper is fully open with no contact. The robot is now retreating from the release position, completing the final subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000834_ecot.json b/cot/chunk-0000/episode_0000834_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..07d80fab0feaf4c6ca48448317c7a9809201f16f --- /dev/null +++ b/cot/chunk-0000/episode_0000834_ecot.json @@ -0,0 +1,1216 @@ +{ + "task_name": "episode_0000834", + "episode_json": "json/chunk-0000/episode_0000834.json", + "video_path": "videos/chunk-0000/image_0/episode_0000834.mp4", + "instruction": "Put cup from counter to sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000834.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8298521041870117, + "std": 0.3324891924858093, + "delta_total": -0.6233329176902771, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.82985, std=0.33249, total_delta=-0.62333). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 106, + 106, + 106, + 106, + 106, + 106, + 106 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cup\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector to the cup on the counter and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and transport cup to sink\", \"start\": 6, \"end\": 12, \"planning\": \"Lift the grasped cup and move it over the sink basin while maintaining grip.\"},\n {\"id\": 3, \"name\": \"release cup into sink\", \"start\": 13, \"end\": 19, \"planning\": \"Open gripper to drop the cup into the sink and retreat slightly after release.\"}\n ],\n \"global_plan\": \"Grasp the cup from the counter, lift and carry it to the sink, then release it into the basin.\",\n \"notes\": \"Gripper closes significantly in segment 1 (delta=-0.34), remains closed during transport in segment 2, and opens in segment 3 (delta=+0.21) — consistent with grasp-hold-release sequence. Motion and imagery support this interpretation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cup", + "start": 0, + "end": 5, + "planning": "Move end-effector to the cup on the counter and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and transport cup to sink", + "start": 6, + "end": 12, + "planning": "Lift the grasped cup and move it over the sink basin while maintaining grip." + }, + { + "id": 3, + "name": "release cup into sink", + "start": 13, + "end": 19, + "planning": "Open gripper to drop the cup into the sink and retreat slightly after release." + } + ], + "global_plan": "Grasp the cup from the counter, lift and carry it to the sink, then release it into the basin.", + "notes": "Gripper closes significantly in segment 1 (delta=-0.34), remains closed during transport in segment 2, and opens in segment 3 (delta=+0.21) — consistent with grasp-hold-release sequence. Motion and imagery support this interpretation." + } + }, + "episode_goal": "Place the pink cup from the dish rack into the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2908097207546234, + 0.07914619892835617, + 0.17685039341449738, + -3.0887322425842285, + 0.2834884822368622, + -0.0212380550801754 + ], + "gripper_value": 0.9124506115913391 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pink cup and close the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29547059535980225, + 0.07935304939746857, + 0.1648503690958023, + -3.101405620574951, + 0.3294175863265991, + -0.025039689615368843 + ], + "gripper_value": 0.9124506115913391 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy tomato": [ + 370, + 802, + 499, + 962 + ], + "toy cucumber": [ + 425, + 654, + 568, + 819 + ], + "toy carrot": [ + 519, + 521, + 612, + 675 + ], + "dish rack": [ + 367, + 266, + 619, + 476 + ] + } + } + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the pink cup and close the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move forward 3 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30339136719703674, + 0.08267068862915039, + 0.16201190650463104, + -3.09625244140625, + 0.33327430486679077, + -0.017007974907755852 + ], + "gripper_value": 0.9124506115913391 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the pink cup and closing the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move forward 4 cm, move right 5 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30440792441368103, + 0.0839642882347107, + 0.15534427762031555, + -3.0941779613494873, + 0.33158814907073975, + -0.010378185659646988 + ], + "gripper_value": 0.9124506115913391 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the pink cup and closing the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29634958505630493, + 0.08289919048547745, + 0.13714011013507843, + -3.088290214538574, + 0.3644498586654663, + -0.00603574700653553 + ], + "gripper_value": 0.7496609687805176 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the pink cup and closing the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29141733050346375, + 0.07918891310691833, + 0.13127578794956207, + -3.069359540939331, + 0.362822562456131, + -0.005077497102320194 + ], + "gripper_value": 0.570969820022583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "approach and grasp cup", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the pink cup and closing the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29163047671318054, + 0.07854622602462769, + 0.1341002732515335, + -3.0642786026000977, + 0.3479713797569275, + -0.006151954643428326 + ], + "gripper_value": 0.40415963530540466 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup to sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the pink cup and closing the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29124483466148376, + 0.0803723931312561, + 0.13245347142219543, + -3.062340259552002, + 0.34463271498680115, + 0.003686089999973774 + ], + "gripper_value": 0.2486134171485901 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup to sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the pink cup and closing the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896701693534851, + 0.08242761343717575, + 0.12955373525619507, + -3.06306529045105, + 0.3461739122867584, + 0.009630783461034298 + ], + "gripper_value": 0.12351571768522263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup to sink", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the pink cup visible in the dish rack. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the pink cup and closing the gripper to grasp it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888698875904083, + 0.07967003434896469, + 0.13146242499351501, + -3.0644359588623047, + 0.3458753228187561, + 0.0025091057177633047 + ], + "gripper_value": 0.08432227373123169 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup to sink", + "subtask_reasoning": "The robot has successfully grasped the pink cup from the dish rack and is currently lifting it above the sink basin. The gripper is closed, securing the cup during the transport phase. The next action is to lower the arm to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30512139201164246, + 0.0658925399184227, + 0.1573704183101654, + -3.0731964111328125, + 0.2937510013580322, + -0.030731307342648506 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup to sink", + "subtask_reasoning": "The robot has successfully grasped the pink cup from the dish rack and is currently lifting it above the sink basin. The gripper is closed, securing the cup during the transport phase. The next action is to lower the arm to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.323972225189209, + 0.04486148804426193, + 0.19744861125946045, + -3.083726167678833, + 0.20930099487304688, + -0.06965630501508713 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup to sink", + "subtask_reasoning": "The robot has successfully grasped the pink cup from the dish rack and is currently lifting it above the sink basin. The gripper is closed, securing the cup during the transport phase. The next action is to lower the arm to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3326681852340698, + 0.028805261477828026, + 0.20379622280597687, + -3.107515335083008, + 0.19220636785030365, + -0.07491403818130493 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "lift and transport cup to sink", + "subtask_reasoning": "The robot has successfully grasped the pink cup from the dish rack and is currently lifting it above the sink basin. The gripper is closed, securing the cup during the transport phase. The next action is to lower the arm to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34010326862335205, + 0.006600439548492432, + 0.18286986649036407, + 3.1393158435821533, + 0.24219654500484467, + -0.10696884989738464 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot has successfully grasped the pink cup from the dish rack and is currently lifting it above the sink basin. The gripper is closed, securing the cup during the transport phase. The next action is to lower the arm to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3489387333393097, + -0.020296534523367882, + 0.16137279570102692, + 3.1062722206115723, + 0.28938478231430054, + -0.1696484386920929 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot has successfully grasped the pink cup from the dish rack and is currently lifting it above the sink basin. The gripper is closed, securing the cup during the transport phase. The next action is to lower the arm to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3575804829597473, + -0.034574419260025024, + 0.14074747264385223, + 3.090284824371338, + 0.3277738392353058, + -0.20772075653076172 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy tomato": [ + 370, + 803, + 500, + 963 + ], + "toy white slice": [ + 571, + 673, + 678, + 842 + ], + "toy cucumber": [ + 425, + 657, + 568, + 817 + ] + } + } + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The robot has successfully grasped the pink cup from the dish rack and is currently lifting it above the sink basin. The gripper is closed, securing the cup during the transport phase. The next action is to lower the arm to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3586442172527313, + -0.025902103632688522, + 0.1302613466978073, + 3.102907419204712, + 0.3399687111377716, + -0.18765051662921906 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The pink cup is currently held by the gripper and positioned directly above the sink basin. The gripper is in a closed state, indicating the cup is still secured. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548133373260498, + -0.017404265701770782, + 0.1208433136343956, + 3.1100029945373535, + 0.3654751479625702, + -0.17109781503677368 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The pink cup is currently held by the gripper and positioned directly above the sink basin. The gripper is in a closed state, indicating the cup is still secured. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35142719745635986, + -0.014494202099740505, + 0.11972490698099136, + 3.0878632068634033, + 0.4062425196170807, + -0.16770534217357635 + ], + "gripper_value": 0.18800361454486847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The pink cup is currently held by the gripper and positioned directly above the sink basin. The gripper is in a closed state, indicating the cup is still secured. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35201504826545715, + -0.012968092225492, + 0.12457285076379776, + 3.0596063137054443, + 0.4273170530796051, + -0.1747346967458725 + ], + "gripper_value": 0.289117693901062 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pink cup from the dish rack into the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cup" + }, + { + "id": 2, + "subtask": "lift and transport cup to sink" + }, + { + "id": 3, + "subtask": "release cup into sink" + } + ], + "subtask_name": "release cup into sink", + "subtask_reasoning": "The pink cup is currently held by the gripper and positioned directly above the sink basin. The gripper is in a closed state, indicating the cup is still secured. The next action is to open the gripper to release the cup into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000835_ecot.json b/cot/chunk-0000/episode_0000835_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..14e60f2b55fca1e68d038f3bb6254c5114b12368 --- /dev/null +++ b/cot/chunk-0000/episode_0000835_ecot.json @@ -0,0 +1,2942 @@ +{ + "task_name": "episode_0000835", + "episode_json": "json/chunk-0000/episode_0000835.json", + "video_path": "videos/chunk-0000/image_0/episode_0000835.mp4", + "instruction": "Put the blue block on top of the red block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000835.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.4247928261756897, + "std": 0.19811414182186127, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42479, std=0.19811, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the blue block on the table while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp blue block\", \"start\": 6, \"end\": 13, \"planning\": \"Close gripper around the blue block as confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition blue block\", \"start\": 14, \"end\": 28, \"planning\": \"Lift the grasped blue block and move it horizontally toward the red block stack.\"},\n {\"id\": 4, \"name\": \"place blue block on red block\", \"start\": 29, \"end\": 40, \"planning\": \"Lower the blue block onto the red block with controlled descent while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 41, \"end\": 43, \"planning\": \"Open gripper to release the blue block and retract end-effector away from the stack.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, reposition, place, and release the blue block onto the red block stack in a continuous manipulation sequence.\",\n \"notes\": \"Gripper evidence supports grasp during segment 1 (closing) and segment 2 (holding then opening). Frame coverage is complete and contiguous from 0 to 43. Subtask boundaries align with motion and gripper state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the blue block on the table while keeping gripper open." + }, + { + "id": 2, + "name": "grasp blue block", + "start": 6, + "end": 13, + "planning": "Close gripper around the blue block as confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and reposition blue block", + "start": 14, + "end": 28, + "planning": "Lift the grasped blue block and move it horizontally toward the red block stack." + }, + { + "id": 4, + "name": "place blue block on red block", + "start": 29, + "end": 40, + "planning": "Lower the blue block onto the red block with controlled descent while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 41, + "end": 43, + "planning": "Open gripper to release the blue block and retract end-effector away from the stack." + } + ], + "global_plan": "Approach, grasp, lift, reposition, place, and release the blue block onto the red block stack in a continuous manipulation sequence.", + "notes": "Gripper evidence supports grasp during segment 1 (closing) and segment 2 (holding then opening). Frame coverage is complete and contiguous from 0 to 43. Subtask boundaries align with motion and gripper state transitions." + } + }, + "episode_goal": "Place the blue block on top of the red block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27479398250579834, + -0.12976987659931183, + 0.10294722020626068, + 3.0693905353546143, + -0.046768032014369965, + 0.6010340452194214 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper is open and approaching the blue block. The next action is to move the gripper closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2723437547683716, + -0.12908272445201874, + 0.09240379929542542, + 3.098465919494629, + -0.02655036561191082, + 0.6027424335479736 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper is open and approaching the blue block. The next action is to move the gripper closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27625393867492676, + -0.13130588829517365, + 0.07126690447330475, + 3.1250507831573486, + -0.0025069869589060545, + 0.5713639855384827 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 992 + ], + "blue pole": [ + 639, + 1, + 764, + 367 + ], + "red block": [ + 510, + 276, + 668, + 447 + ], + "green block": [ + 544, + 414, + 630, + 517 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801533043384552, + -0.13518483936786652, + 0.0642138347029686, + 3.1122212409973145, + 0.002521691843867302, + 0.5463498830795288 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 3 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28473106026649475, + -0.13833698630332947, + 0.06315232068300247, + 3.0845835208892822, + -0.017385857179760933, + 0.5273380279541016 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move forward 3 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869349718093872, + -0.1391141265630722, + 0.06235072761774063, + 3.0703647136688232, + -0.029287509620189667, + 0.524237334728241 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 3 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, close gripper; then move left 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2905190587043762, + -0.13923053443431854, + 0.06169666349887848, + 3.052577018737793, + -0.047114357352256775, + 0.5100612044334412 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, close gripper; then move left 4 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29530760645866394, + -0.13656318187713623, + 0.06175268813967705, + 3.0344083309173584, + -0.05934957414865494, + 0.5032035112380981 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, close gripper; then move forward 1 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30101093649864197, + -0.1374758780002594, + 0.05939110741019249, + 3.0358965396881104, + -0.05890283361077309, + 0.5031213760375977 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned near the blue block on the table, with the red block visible in the background. No actions have been completed yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should involve moving the end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 2 cm, close gripper; then move forward 1 cm, move left 7 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3116235136985779, + -0.13366898894309998, + 0.06531047821044922, + 3.04284930229187, + -0.11162067204713821, + 0.5050074458122253 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, keep gripper closed; then move left 7 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3187653720378876, + -0.1255815476179123, + 0.06692801415920258, + 3.0818564891815186, + -0.20269939303398132, + 0.5428277254104614 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move left 7 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31848835945129395, + -0.11946253478527069, + 0.05518424138426781, + -3.1188254356384277, + -0.21489553153514862, + 0.5429757833480835 + ], + "gripper_value": 0.6892001032829285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 8 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3206130266189575, + -0.11974304169416428, + 0.05536118149757385, + -3.090395450592041, + -0.2043025940656662, + 0.5531045198440552 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 8 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183201253414154, + -0.12707765400409698, + 0.0551396906375885, + 3.1345458030700684, + -0.13332577049732208, + 0.522157609462738 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move left 9 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31630784273147583, + -0.11674407869577408, + 0.08129630982875824, + 2.963254451751709, + -0.038880784064531326, + 0.4517114460468292 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178168535232544, + -0.09790214151144028, + 0.11566496640443802, + 2.8163256645202637, + -0.004256000276654959, + 0.5240646004676819 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 992 + ], + "blue pole": [ + 640, + 2, + 764, + 367 + ], + "cables": [ + 2, + 678, + 119, + 987 + ], + "green block": [ + 544, + 416, + 631, + 517 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31959035992622375, + -0.07868551462888718, + 0.13549643754959106, + 2.730564594268799, + 0.00855664536356926, + 0.6364029049873352 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3222824037075043, + -0.06346464902162552, + 0.14000947773456573, + 2.723118782043457, + -0.0041670165956020355, + 0.6917344331741333 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 5, + 994, + 992 + ], + "red block": [ + 511, + 277, + 667, + 448 + ], + "blue pole": [ + 735, + 143, + 857, + 410 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32164785265922546, + -0.04655400663614273, + 0.14110170304775238, + 2.8353846073150635, + -0.07972920686006546, + 0.7404928207397461 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183899521827698, + -0.048068322241306305, + 0.15922406315803528, + 2.862548589706421, + -0.15499693155288696, + 0.7424845099449158 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178034722805023, + -0.042314041405916214, + 0.16004255414009094, + 2.8910112380981445, + -0.18321868777275085, + 0.7566586136817932 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned adjacent to it on the table. The gripper is currently open, indicating that the grasp has not yet been initiated. The next action is to close the gripper to secure the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.319364070892334, + -0.03704356402158737, + 0.16029641032218933, + 2.89810848236084, + -0.20106418430805206, + 0.7672812342643738 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3193826675415039, + -0.032178863883018494, + 0.15787404775619507, + 2.903512954711914, + -0.2123093158006668, + 0.7767253518104553 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3187600076198578, + -0.030367057770490646, + 0.15624500811100006, + 2.9117796421051025, + -0.21725156903266907, + 0.7743844389915466 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3168441653251648, + -0.024226276203989983, + 0.1531110405921936, + 2.932190179824829, + -0.22213014960289001, + 0.7808043360710144 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3140425980091095, + -0.01725063845515251, + 0.14791329205036163, + 2.9528889656066895, + -0.2202848196029663, + 0.7939898371696472 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142484724521637, + -0.011528484523296356, + 0.14600951969623566, + 2.9479591846466064, + -0.22406995296478271, + 0.8127345442771912 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 6, + 994, + 992 + ], + "blue pole": [ + 592, + 75, + 746, + 367 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159170150756836, + -0.008766013197600842, + 0.14565186202526093, + 2.9406325817108154, + -0.22985708713531494, + 0.8229885697364807 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31818991899490356, + -0.008911236189305782, + 0.13865762948989868, + 2.952601671218872, + -0.2198827564716339, + 0.8199470043182373 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition blue block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move left 1 cm, move down 2 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3242019712924957, + -0.00655352184548974, + 0.13440725207328796, + 2.974179744720459, + -0.2259070873260498, + 0.8123190402984619 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233131766319275, + -0.003771914169192314, + 0.1275957226753235, + 3.008992910385132, + -0.21751177310943604, + 0.8127370476722717 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32444992661476135, + -0.0020059612579643726, + 0.13005481660366058, + 3.0158164501190186, + -0.22931717336177826, + 0.8169601559638977 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32434722781181335, + -0.0012837252579629421, + 0.1280306875705719, + 3.0228118896484375, + -0.22550718486309052, + 0.8165929317474365 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32487767934799194, + -0.0005908263847231865, + 0.12423872947692871, + 3.036614179611206, + -0.22492969036102295, + 0.8103305697441101 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The blue block is currently held above the red block, having been lifted and repositioned from its initial location. The gripper remains closed with no significant motion, indicating the block is being stabilized mid-air. The next action is to lower the blue block onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256295919418335, + 0.0007394053391180933, + 0.12320612370967865, + 3.041369915008545, + -0.2330760508775711, + 0.80796217918396 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.32508108019828796, + -0.0009123757481575012, + 0.11696340143680573, + 3.0517005920410156, + -0.23778054118156433, + 0.8020336031913757 + ], + "gripper_value": 0.5819184184074402 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.32524779438972473, + -0.000857613340485841, + 0.1167377382516861, + 3.052171230316162, + -0.2414926290512085, + 0.8027821779251099 + ], + "gripper_value": 0.5829154849052429 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250585198402405, + -0.0009224651730619371, + 0.11674277484416962, + 3.0553300380706787, + -0.24275194108486176, + 0.7996101379394531 + ], + "gripper_value": 0.6269758939743042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3218323290348053, + -0.000316736230161041, + 0.11614585667848587, + 3.075577974319458, + -0.2331026941537857, + 0.7947410941123962 + ], + "gripper_value": 0.9239223003387451 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.32083776593208313, + -0.0005792860174551606, + 0.11590386182069778, + 3.078611135482788, + -0.22723568975925446, + 0.7960289716720581 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3203635513782501, + -0.001000197371467948, + 0.1158146932721138, + 3.081084728240967, + -0.2253890186548233, + 0.7943778038024902 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place blue block on red block", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.320390522480011, + -0.0024184263311326504, + 0.11649204045534134, + 3.082054376602173, + -0.2245245724916458, + 0.7917093634605408 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the blue block above the red block, with the gripper closed and minimal motion indicating a stable hold. The blue block is positioned for placement but has not yet made contact with the red block. The next action is to lower the blue block gently onto the red block to complete the stacking." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.32284778356552124, + -0.0052160657942295074, + 0.13054461777210236, + 3.047541618347168, + -0.2277754694223404, + 0.809823751449585 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue block is already placed on top of the red block, and the gripper is open and retreating upward. The release action has been completed, and the robot is now moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246196508407593, + -0.007368247956037521, + 0.1508130431175232, + 2.9974424839019775, + -0.24340030550956726, + 0.8311578035354614 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 992 + ], + "blue pole": [ + 548, + 129, + 644, + 353 + ], + "red block": [ + 511, + 279, + 667, + 448 + ], + "metal stand base": [ + 3, + 762, + 262, + 997 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue block on top of the red block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "lift and reposition blue block" + }, + { + "id": 4, + "subtask": "place blue block on red block" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue block is already placed on top of the red block, and the gripper is open and retreating upward. The release action has been completed, and the robot is now moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000836_ecot.json b/cot/chunk-0000/episode_0000836_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..069d0ed79fdc138457182dc802b77076c04c404f --- /dev/null +++ b/cot/chunk-0000/episode_0000836_ecot.json @@ -0,0 +1,1036 @@ +{ + "task_name": "episode_0000836", + "episode_json": "json/chunk-0000/episode_0000836.json", + "video_path": "videos/chunk-0000/image_0/episode_0000836.mp4", + "instruction": "Moved the orange rag from the back right to the middle of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000836.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006613731384277344, + "std": 0.00027495904942043126, + "delta_total": -0.0006613731384277344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00027, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange rag\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector from the initial position toward the orange rag located at the back right of the table, making contact without grasping.\"},\n {\"id\": 2, \"name\": \"push rag to center\", \"start\": 10, \"end\": 17, \"planning\": \"Apply continuous contact force to slide the orange rag from the back right toward the middle of the table, maintaining gripper openness throughout.\"}\n ],\n \"global_plan\": \"The robot approaches the orange rag without grasping it, then pushes it across the table surface to the center using sustained contact motion.\",\n \"notes\": \"Gripper remains open throughout both segments; no lifting or grasping occurs. Motion is purely translational sliding via end-effector contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange rag", + "start": 0, + "end": 9, + "planning": "Move the end-effector from the initial position toward the orange rag located at the back right of the table, making contact without grasping." + }, + { + "id": 2, + "name": "push rag to center", + "start": 10, + "end": 17, + "planning": "Apply continuous contact force to slide the orange rag from the back right toward the middle of the table, maintaining gripper openness throughout." + } + ], + "global_plan": "The robot approaches the orange rag without grasping it, then pushes it across the table surface to the center using sustained contact motion.", + "notes": "Gripper remains open throughout both segments; no lifting or grasping occurs. Motion is purely translational sliding via end-effector contact." + } + }, + "episode_goal": "Move the orange rag from the back right to the middle of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24685250222682953, + -0.045178502798080444, + 0.07237952947616577, + -3.035749912261963, + -0.11460936814546585, + -0.13284417986869812 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or movement toward the rag has occurred yet. The next action should be to move the end effector closer to the orange rag to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 4 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24609249830245972, + -0.045978620648384094, + 0.0657191276550293, + -3.038750648498535, + -0.08895458281040192, + -0.13304445147514343 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or movement toward the rag has occurred yet. The next action should be to move the end effector closer to the orange rag to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 4 cm, move down 6 cm, keep gripper open; then move back 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751683294773102, + -0.04614757001399994, + 0.06331723928451538, + -3.060100555419922, + -0.11079034209251404, + -0.12893134355545044 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or movement toward the rag has occurred yet. The next action should be to move the end effector closer to the orange rag to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 4 cm, move down 6 cm, keep gripper open; then move back 3 cm, move left 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073025047779083, + -0.05561068281531334, + 0.0571938157081604, + -3.0819966793060303, + -0.11811033636331558, + -0.1459486037492752 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange sponge": [ + 549, + 340, + 824, + 608 + ], + "spatula": [ + 217, + 220, + 358, + 428 + ], + "metal pot": [ + 271, + 477, + 604, + 795 + ], + "white container": [ + 10, + 343, + 200, + 596 + ], + "metal": [ + 11, + 343, + 198, + 596 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or movement toward the rag has occurred yet. The next action should be to move the end effector closer to the orange rag to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move down 5 cm, keep gripper open; then move back 3 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3411172032356262, + -0.06510592252016068, + 0.043920572847127914, + -3.088350772857666, + -0.11226091533899307, + -0.17798684537410736 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 4 cm, keep gripper open; then move back 4 cm, move left 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3640853464603424, + -0.06965778023004532, + 0.027643917128443718, + -3.1116020679473877, + -0.09442973881959915, + -0.18708661198616028 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38812729716300964, + -0.06556030362844467, + 0.010114614851772785, + -3.1321237087249756, + -0.09032398462295532, + -0.19439534842967987 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 8 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.400713711977005, + -0.06474389135837555, + 0.009548204950988293, + -3.1311116218566895, + -0.09628462791442871, + -0.20723208785057068 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.40075060725212097, + -0.05452620983123779, + 0.00787888839840889, + -3.125979423522949, + -0.08988716453313828, + -0.1893811821937561 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3897389769554138, + -0.039034321904182434, + 0.005607578903436661, + -3.100153923034668, + -0.0768420472741127, + -0.16419799625873566 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "approach orange rag", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, keep gripper open; then move back 3 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36277562379837036, + -0.0025282895658165216, + 0.005213061813265085, + -3.091409683227539, + -0.04705885052680969, + -0.08825976401567459 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.345686674118042, + 0.024583972990512848, + 0.006253755651414394, + -3.078282594680786, + -0.020825868472456932, + -0.041699815541505814 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange sponge": [ + 415, + 350, + 680, + 569 + ], + "metal pot": [ + 270, + 478, + 604, + 792 + ], + "spatula": [ + 217, + 220, + 358, + 427 + ], + "metal": [ + 11, + 343, + 199, + 595 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3364715874195099, + 0.047464266419410706, + 0.005804817192256451, + -3.0729868412017822, + -0.008518536575138569, + -0.019176006317138672 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot is positioned above the table with the orange rag visible in the back right. No contact or grasping has occurred yet as the gripper remains open and stationary relative to the rag. The next action should involve moving the end effector closer to the rag to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.331845760345459, + 0.06646329164505005, + 0.005927299614995718, + -3.0609312057495117, + -0.006800326518714428, + -0.017153291031718254 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot's end-effector is in contact with the orange rag, which is positioned near the center of the table. The approach phase is complete, and the robot is currently executing the push motion. The next action is to continue applying force to slide the rag further toward the table's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272572159767151, + 0.081386998295784, + 0.0050241886638104916, + -3.0504162311553955, + -0.004326005466282368, + -0.025235433131456375 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot's end-effector is in contact with the orange rag, which is positioned near the center of the table. The approach phase is complete, and the robot is currently executing the push motion. The next action is to continue applying force to slide the rag further toward the table's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3258936405181885, + 0.08595811575651169, + 0.005165614187717438, + -3.05572772026062, + -0.004130093846470118, + -0.03870394080877304 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot's end-effector is in contact with the orange rag, which is positioned near the center of the table. The approach phase is complete, and the robot is currently executing the push motion. The next action is to continue applying force to slide the rag further toward the table's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32549160718917847, + 0.0810399129986763, + 0.010238013230264187, + -3.102879762649536, + -0.016549354419112206, + -0.04922691732645035 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot's end-effector is in contact with the orange rag, which is positioned near the center of the table. The approach phase is complete, and the robot is currently executing the push motion. The next action is to continue applying force to slide the rag further toward the table's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3341771960258484, + 0.08026781678199768, + 0.04673897475004196, + -3.1037609577178955, + -0.08486682921648026, + -0.05788623169064522 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange rag from the back right to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange rag" + }, + { + "id": 2, + "subtask": "push rag to center" + } + ], + "subtask_name": "push rag to center", + "subtask_reasoning": "The robot's end-effector is in contact with the orange rag, which is positioned near the center of the table. The approach phase is complete, and the robot is currently executing the push motion. The next action is to continue applying force to slide the rag further toward the table's center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000837_ecot.json b/cot/chunk-0000/episode_0000837_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2567970ad1248f3b891b89f91f9d9cf795ac5c8d --- /dev/null +++ b/cot/chunk-0000/episode_0000837_ecot.json @@ -0,0 +1,1460 @@ +{ + "task_name": "episode_0000837", + "episode_json": "json/chunk-0000/episode_0000837.json", + "video_path": "videos/chunk-0000/image_0/episode_0000837.mp4", + "instruction": "Move the can to the upper side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000837.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.0003125048242509365, + "delta_total": -0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00031, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the can on the table without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 5, \"end\": 14, \"planning\": \"Establish light contact with can and begin nudging it upward along the table surface; gripper stays open, no lift occurs.\"},\n {\"id\": 3, \"name\": \"slide can to target zone\", \"start\": 15, \"end\": 23, \"planning\": \"Continue sliding the can toward the upper side of the table using sustained contact motion; gripper remains open throughout.\"}\n ],\n \"global_plan\": \"The robot moves the can to the upper side of the table by approaching it, making contact, and then sliding it across the surface without ever closing the gripper or lifting the object.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in any segment (range=0.00066, delta=-0.00066), so all actions are contact-based: approach, nudge, slide. No grasp, pick, or place is inferred. Motion is continuous and planar, consistent with pushing/sliding a can on a flat surface.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the can on the table without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 5, + "end": 14, + "planning": "Establish light contact with can and begin nudging it upward along the table surface; gripper stays open, no lift occurs." + }, + { + "id": 3, + "name": "slide can to target zone", + "start": 15, + "end": 23, + "planning": "Continue sliding the can toward the upper side of the table using sustained contact motion; gripper remains open throughout." + } + ], + "global_plan": "The robot moves the can to the upper side of the table by approaching it, making contact, and then sliding it across the surface without ever closing the gripper or lifting the object.", + "notes": "Gripper evidence confirms no meaningful closing in any segment (range=0.00066, delta=-0.00066), so all actions are contact-based: approach, nudge, slide. No grasp, pick, or place is inferred. Motion is continuous and planar, consistent with pushing/sliding a can on a flat surface." + } + }, + "episode_goal": "Move the can to the upper side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25286364555358887, + 0.17191196978092194, + 0.10370295494794846, + 3.1415462493896484, + -0.11682882905006409, + -0.013173629529774189 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the end-effector open and hovering near the target can. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the can to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25045880675315857, + 0.1685667634010315, + 0.09407233446836472, + 3.115330934524536, + -0.09508619457483292, + -0.015711482614278793 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the table with the end-effector open and hovering near the target can. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the can to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 7 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22825466096401215, + 0.1631164401769638, + 0.0934971421957016, + 3.0705373287200928, + -0.1024804636836052, + -0.032971303910017014 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red can located in the foreground. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move right 8 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20530739426612854, + 0.15795667469501495, + 0.09135999530553818, + 3.111372470855713, + -0.1099938228726387, + -0.06834911555051804 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 262, + 118, + 451, + 312 + ], + "toy microwave": [ + 282, + 2, + 678, + 218 + ], + "blue fork": [ + 478, + 453, + 734, + 669 + ], + "orange cloth": [ + 258, + 176, + 501, + 352 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red can located in the foreground. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 8 cm, move right 8 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.18797005712985992, + 0.15951505303382874, + 0.08469066768884659, + 3.134089708328247, + -0.10832889378070831, + -0.13051918148994446 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red can located in the foreground. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 10 cm, move right 9 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1791938841342926, + 0.15317340195178986, + 0.07308608293533325, + -3.1156091690063477, + -0.11495902389287949, + -0.25686177611351013 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red can located in the foreground. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 10 cm, move down 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.17842711508274078, + 0.14537939429283142, + 0.060911353677511215, + -3.09039044380188, + -0.11521675437688828, + -0.2949291467666626 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red can located in the foreground. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.17850415408611298, + 0.13440485298633575, + 0.05403752624988556, + -3.0753793716430664, + -0.10998005419969559, + -0.3175114393234253 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red can located in the foreground. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 8 cm, move down 2 cm, keep gripper open; then move forward 6 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.17990642786026, + 0.12237557768821716, + 0.05318979546427727, + -3.0702896118164062, + -0.1030459925532341, + -0.3325052857398987 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot arm is positioned above the table, approaching the red can located in the foreground. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the can to establish contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 7 cm, move down 2 cm, keep gripper open; then move forward 8 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18557138741016388, + 0.10778481513261795, + 0.05254219472408295, + -3.086757183074951, + -0.09110868722200394, + -0.32903292775154114 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 5 cm, move down 2 cm, keep gripper open; then move forward 10 cm, move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19526100158691406, + 0.09325573593378067, + 0.051848798990249634, + -3.0880818367004395, + -0.08788646012544632, + -0.3220667243003845 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, move down 2 cm, keep gripper open; then move forward 12 cm, move right 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21447151899337769, + 0.08454801142215729, + 0.042792513966560364, + -3.0751559734344482, + -0.07079289853572845, + -0.2976865768432617 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move down 1 cm, keep gripper open; then move forward 11 cm, move right 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23788157105445862, + 0.07664976269006729, + 0.031720127910375595, + -3.031407117843628, + -0.06274635344743729, + -0.29932358860969543 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 275, + 117, + 449, + 312 + ], + "toy microwave": [ + 284, + 2, + 677, + 219 + ], + "blue fork": [ + 478, + 454, + 734, + 670 + ], + "orange cloth": [ + 329, + 176, + 502, + 351 + ], + "toy stove": [ + 684, + 151, + 996, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, keep gripper open; then move forward 10 cm, move right 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2562057673931122, + 0.07640620321035385, + 0.02701278030872345, + -2.992274284362793, + -0.07034817337989807, + -0.2800122797489166 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 1 cm, keep gripper open; then move forward 8 cm, move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27488622069358826, + 0.06457533687353134, + 0.026417169719934464, + -2.995620012283325, + -0.07579810917377472, + -0.2865283787250519 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 8 cm, move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2965759038925171, + 0.05345539376139641, + 0.03316120430827141, + -3.0117902755737305, + -0.08986566960811615, + -0.261417418718338 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3252894878387451, + 0.04375298321247101, + 0.03665420413017273, + -3.031275987625122, + -0.0925506129860878, + -0.23888930678367615 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue fork": [ + 479, + 454, + 735, + 669 + ], + "toy microwave": [ + 484, + 2, + 678, + 219 + ], + "toy stove": [ + 686, + 153, + 995, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524784445762634, + 0.03145569562911987, + 0.0408356636762619, + -3.0381972789764404, + -0.09664277732372284, + -0.22914685308933258 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3761350214481354, + 0.022228922694921494, + 0.042171020060777664, + -3.0499017238616943, + -0.08769210427999496, + -0.2173214554786682 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot's end-effector is positioned near the red can on the table, having completed the approach phase. The gripper remains open, consistent with the plan to slide rather than grasp. The next action is to make physical contact and nudge the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.398092657327652, + 0.011752365157008171, + 0.042837366461753845, + -3.0558383464813232, + -0.083518385887146, + -0.20724858343601227 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot end-effector is in contact with the can on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, consistent with a sliding motion. The next action is to continue pushing the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.413562148809433, + 0.006405102554708719, + 0.042996276170015335, + -3.0614025592803955, + -0.08004681766033173, + -0.19079133868217468 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot end-effector is in contact with the can on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, consistent with a sliding motion. The next action is to continue pushing the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4063917398452759, + 0.00981327798217535, + 0.043773822486400604, + -3.0504932403564453, + -0.03197556361556053, + -0.15307731926441193 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot end-effector is in contact with the can on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, consistent with a sliding motion. The next action is to continue pushing the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3952092230319977, + 0.013660768046975136, + 0.06562236696481705, + -3.047434091567993, + -0.03336641564965248, + -0.10771717131137848 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot end-effector is in contact with the can on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, consistent with a sliding motion. The next action is to continue pushing the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37819376587867737, + 0.030249223113059998, + 0.08518882095813751, + -3.0409865379333496, + -0.056893665343523026, + -0.04142375290393829 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the upper side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide can to target zone" + } + ], + "subtask_name": "slide can to target zone", + "subtask_reasoning": "The robot end-effector is in contact with the can on the table, having completed the approach and initial nudge. The gripper remains open with no closing evidence, consistent with a sliding motion. The next action is to continue pushing the can toward the upper side of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000838_ecot.json b/cot/chunk-0000/episode_0000838_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..db70be61b81590398b65263e39e9faadbd16d5ae --- /dev/null +++ b/cot/chunk-0000/episode_0000838_ecot.json @@ -0,0 +1,2387 @@ +{ + "task_name": "episode_0000838", + "episode_json": "json/chunk-0000/episode_0000838.json", + "video_path": "videos/chunk-0000/image_0/episode_0000838.mp4", + "instruction": "Close microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000838.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the open microwave door to prepare for closing.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 3, \"end\": 10, \"planning\": \"Position gripper to make initial contact with the microwave door handle or edge.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 11, \"end\": 25, \"planning\": \"Apply forward motion to push the microwave door shut while maintaining contact.\"},\n {\"id\": 4, \"name\": \"ensure full closure\", \"start\": 26, \"end\": 32, \"planning\": \"Continue pushing slightly to ensure the door is fully latched and sealed.\"},\n {\"id\": 5, \"name\": \"retreat from microwave\", \"start\": 33, \"end\": 34, \"planning\": \"Withdraw end-effector away from the now-closed microwave door.\"}\n ],\n \"global_plan\": \"Close the microwave door by approaching, making contact, pushing it shut, ensuring full closure, then retreating — all without grasping since gripper remains open throughout.\",\n \"notes\": \"Gripper never closes; all actions are contact-based pushes and retreats. No lifting or placing occurs. Segment boundaries respected but split into finer manipulation phases for clarity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the open microwave door to prepare for closing." + }, + { + "id": 2, + "name": "make contact with door", + "start": 3, + "end": 10, + "planning": "Position gripper to make initial contact with the microwave door handle or edge." + }, + { + "id": 3, + "name": "push door closed", + "start": 11, + "end": 25, + "planning": "Apply forward motion to push the microwave door shut while maintaining contact." + }, + { + "id": 4, + "name": "ensure full closure", + "start": 26, + "end": 32, + "planning": "Continue pushing slightly to ensure the door is fully latched and sealed." + }, + { + "id": 5, + "name": "retreat from microwave", + "start": 33, + "end": 34, + "planning": "Withdraw end-effector away from the now-closed microwave door." + } + ], + "global_plan": "Close the microwave door by approaching, making contact, pushing it shut, ensuring full closure, then retreating — all without grasping since gripper remains open throughout.", + "notes": "Gripper never closes; all actions are contact-based pushes and retreats. No lifting or placing occurs. Segment boundaries respected but split into finer manipulation phases for clarity." + } + }, + "episode_goal": "Close the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31273993849754333, + -0.14876458048820496, + -0.00972276646643877, + 3.057154655456543, + -0.15904274582862854, + -0.11648540943861008 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the open microwave door, with no prior actions completed. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the arm closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move back 11 cm, move left 10 cm, move up 15 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30534663796424866, + -0.1442088782787323, + -0.0195469930768013, + 3.076691150665283, + -0.11980625987052917, + -0.11620531231164932 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the open microwave door, with no prior actions completed. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the arm closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 3 cm, keep gripper open; then move back 12 cm, move left 11 cm, move up 16 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29587405920028687, + -0.1362299621105194, + -0.009084916673600674, + 3.12532901763916, + -0.11682848632335663, + -0.09677586704492569 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the open microwave door, with no prior actions completed. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the arm closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 12 cm, move left 11 cm, move up 16 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886675000190735, + -0.12813915312290192, + 0.014956901781260967, + -3.130525588989258, + -0.14643868803977966, + -0.10076775401830673 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "whisk": [ + 604, + 465, + 683, + 580 + ], + "blue bowl": [ + 444, + 855, + 573, + 996 + ], + "green toy": [ + 608, + 205, + 688, + 308 + ], + "yellow toy": [ + 727, + 250, + 812, + 363 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot arm is positioned near the open microwave door, with no prior actions completed. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the arm closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 11 cm, move up 16 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2684944272041321, + -0.11291413754224777, + 0.045592814683914185, + -3.090085506439209, + -0.1491186022758484, + -0.11828061938285828 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot arm is positioned near the open microwave door, with no prior actions completed. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the arm closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 10 cm, move up 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2443668693304062, + -0.09784906357526779, + 0.0757540762424469, + -3.0453429222106934, + -0.12804444134235382, + -0.136460080742836 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot arm is positioned near the open microwave door, with no prior actions completed. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the arm closer to the microwave door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 8 cm, move up 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 7 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22279208898544312, + -0.08333186060190201, + 0.09884209930896759, + -3.017768621444702, + -0.11260108649730682, + -0.15995527803897858 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 7 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20795433223247528, + -0.0694701075553894, + 0.11604825407266617, + -2.976698160171509, + -0.0960787832736969, + -0.1822178065776825 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 6 cm, tilt left 10 degrees, keep gripper open; then move back 6 cm, move left 10 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19716918468475342, + -0.05437788367271423, + 0.12966783344745636, + -2.9370663166046143, + -0.06355683505535126, + -0.20841243863105774 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 5 cm, keep gripper open; then move back 6 cm, move left 11 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18848559260368347, + -0.04367433860898018, + 0.150224506855011, + -2.9143500328063965, + -0.04706910625100136, + -0.22950801253318787 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 3 cm, keep gripper open; then move back 6 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.17841680347919464, + -0.030206697061657906, + 0.16859829425811768, + -2.8745510578155518, + -0.026860998943448067, + -0.25326767563819885 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, keep gripper open; then move back 5 cm, move left 12 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.16915202140808105, + -0.013542604632675648, + 0.1797960251569748, + -2.8527183532714844, + -0.01940236985683441, + -0.24759171903133392 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1612008959054947, + 0.0030556106939911842, + 0.18969523906707764, + -2.8256115913391113, + -0.03304941952228546, + -0.2350001037120819 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.14739114046096802, + 0.023127181455492973, + 0.19180402159690857, + -2.801600933074951, + -0.02188137173652649, + -0.24257345497608185 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1318308711051941, + 0.04141097515821457, + 0.19291093945503235, + -2.7849323749542236, + -0.021467292681336403, + -0.24433188140392303 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "whisk": [ + 603, + 468, + 683, + 582 + ], + "blue bowl": [ + 444, + 855, + 573, + 996 + ], + "green toy": [ + 607, + 207, + 688, + 308 + ], + "yellow toy": [ + 727, + 246, + 809, + 364 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.12366688996553421, + 0.058102913200855255, + 0.1884663701057434, + -2.7686574459075928, + 0.016467876732349396, + -0.23784513771533966 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, move down 8 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.11644283682107925, + 0.07507464289665222, + 0.18735000491142273, + -2.749119520187378, + 0.03595122694969177, + -0.22890189290046692 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 7 cm, move down 10 cm, tilt right 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.1106441542506218, + 0.0884820818901062, + 0.18341849744319916, + -2.730623483657837, + 0.03843443840742111, + -0.22046445310115814 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open microwave door and is now positioned near it. The gripper remains open with no grasp evidence, consistent with a contact-based push strategy. The next action is to move forward slightly to make physical contact with the door to begin closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 8 cm, move down 9 cm, tilt right 20 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.10844144970178604, + 0.09924133867025375, + 0.1830475926399231, + -2.7146432399749756, + 0.0327683687210083, + -0.20952093601226807 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move down 9 cm, tilt right 20 degrees, tilt back 20 degrees, keep gripper open; then move forward 4 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.11237896233797073, + 0.10662785917520523, + 0.16979777812957764, + -2.7373175621032715, + 0.023185547441244125, + -0.22099526226520538 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 10 cm, move down 8 cm, tilt right 20 degrees, tilt back 20 degrees, keep gripper open; then move forward 6 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.12007809430360794, + 0.10875604301691055, + 0.15312686562538147, + -2.768787145614624, + -0.026879623532295227, + -0.22204019129276276 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 10 cm, move down 6 cm, tilt right 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 7 cm, move right 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.13602595031261444, + 0.10159524530172348, + 0.1397971361875534, + -2.8363397121429443, + -0.08858609944581985, + -0.22859914600849152 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 8 cm, move right 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1531597226858139, + 0.0904630497097969, + 0.13895826041698456, + -2.8368303775787354, + -0.14475739002227783, + -0.2509916424751282 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 9 cm, move right 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.17251114547252655, + 0.07147323340177536, + 0.12534406781196594, + -2.8919124603271484, + -0.20457451045513153, + -0.265453040599823 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "light switch": [ + 71, + 447, + 255, + 734 + ], + "blue bowl": [ + 445, + 855, + 573, + 996 + ], + "green toy": [ + 606, + 207, + 688, + 307 + ], + "yellow toy": [ + 727, + 246, + 809, + 364 + ], + "whisk": [ + 603, + 466, + 684, + 581 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 10 cm, move right 7 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.19318199157714844, + 0.05528728663921356, + 0.11464668065309525, + -2.948645830154419, + -0.26306676864624023, + -0.2755492329597473 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 3 cm, keep gripper open; then move forward 10 cm, move right 7 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21114596724510193, + 0.03319413587450981, + 0.10506714880466461, + -2.9770894050598145, + -0.3020974099636078, + -0.2759271264076233 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper open; then move forward 10 cm, move right 7 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22866439819335938, + 0.009540354833006859, + 0.08935244381427765, + -3.0051991939544678, + -0.30732208490371704, + -0.27901142835617065 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "light switch": [ + 70, + 447, + 265, + 735 + ], + "blue bowl": [ + 444, + 855, + 574, + 996 + ], + "green toy": [ + 609, + 206, + 689, + 307 + ], + "yellow toy": [ + 727, + 245, + 810, + 364 + ], + "metal pan": [ + 536, + 848, + 615, + 963 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "ensure full closure", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, tilt back 20 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2512741684913635, + -0.010555543936789036, + 0.0825466439127922, + -3.0056824684143066, + -0.3393276631832123, + -0.30075812339782715 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "ensure full closure", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2720429003238678, + -0.021433701738715172, + 0.08083485811948776, + -3.01277232170105, + -0.3678782284259796, + -0.31673330068588257 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "ensure full closure", + "subtask_reasoning": "The robot arm is in contact with the open microwave door, having completed the approach phase. Since the gripper remains open and no grasping is occurring, the current situation requires pushing the door forward to close it. The next action is to continue applying forward force to shut the door completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2850993275642395, + -0.031676217913627625, + 0.08380089700222015, + -2.9895312786102295, + -0.38907429575920105, + -0.34499746561050415 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "ensure full closure", + "subtask_reasoning": "The robot arm is in contact with the microwave door, which is partially open. The gripper remains open throughout, indicating no grasping action. The next step is to continue pushing the door until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2988443374633789, + -0.03984498605132103, + 0.08821674436330795, + -2.9860103130340576, + -0.41716957092285156, + -0.36106130480766296 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "ensure full closure", + "subtask_reasoning": "The robot arm is in contact with the microwave door, which is partially open. The gripper remains open throughout, indicating no grasping action. The next step is to continue pushing the door until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076635003089905, + -0.045402150601148605, + 0.0907801017165184, + -2.9809436798095703, + -0.47977280616760254, + -0.35904011130332947 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "ensure full closure", + "subtask_reasoning": "The robot arm is in contact with the microwave door, which is partially open. The gripper remains open throughout, indicating no grasping action. The next step is to continue pushing the door until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3197087347507477, + -0.05070319026708603, + 0.09095189720392227, + -2.976238489151001, + -0.5229096412658691, + -0.37838128209114075 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "ensure full closure", + "subtask_reasoning": "The robot arm is in contact with the microwave door, which is partially open. The gripper remains open throughout, indicating no grasping action. The next step is to continue pushing the door until it is fully closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3297923803329468, + -0.05663692206144333, + 0.09115979820489883, + -2.9553260803222656, + -0.5733461380004883, + -0.4026408791542053 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed the pushing action. The current subtask involves retreating from the microwave, with the gripper remaining open and no contact maintained. The next action is to move the arm away from the microwave to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33880844712257385, + -0.06130102276802063, + 0.09520474821329117, + -2.9358913898468018, + -0.6390228271484375, + -0.4254513680934906 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "ensure full closure" + }, + { + "id": 5, + "subtask": "retreat from microwave" + } + ], + "subtask_name": "retreat from microwave", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed the pushing action. The current subtask involves retreating from the microwave, with the gripper remaining open and no contact maintained. The next action is to move the arm away from the microwave to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 33, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000841_ecot.json b/cot/chunk-0000/episode_0000841_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..25878b048506284529577ad2dd09faa257290933 --- /dev/null +++ b/cot/chunk-0000/episode_0000841_ecot.json @@ -0,0 +1,2461 @@ +{ + "task_name": "episode_0000841", + "episode_json": "json/chunk-0000/episode_0000841.json", + "video_path": "videos/chunk-0000/image_0/episode_0000841.mp4", + "instruction": "Move the can to the center of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000841.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 33 + ], + [ + 3, + 34, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper from initial position toward the vicinity of the can without closing.\"},\n {\"id\": 2, \"name\": \"reposition around can\", \"start\": 4, \"end\": 33, \"planning\": \"Navigate the open gripper around the can to align for centering push, avoiding grasp.\"},\n {\"id\": 3, \"name\": \"nudge can to center\", \"start\": 34, \"end\": 40, \"planning\": \"Use open gripper to gently push or slide the can toward the table center without lifting.\"}\n ],\n \"global_plan\": \"Since the gripper never closes, the robot uses non-grasping manipulation: approaching, repositioning, and nudging the can to center via contact.\",\n \"notes\": \"All segments show zero gripper delta; no grasp/lift/place actions are permitted. Plan reflects observed open-gripper pushing behavior.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can", + "start": 0, + "end": 3, + "planning": "Move the gripper from initial position toward the vicinity of the can without closing." + }, + { + "id": 2, + "name": "reposition around can", + "start": 4, + "end": 33, + "planning": "Navigate the open gripper around the can to align for centering push, avoiding grasp." + }, + { + "id": 3, + "name": "nudge can to center", + "start": 34, + "end": 40, + "planning": "Use open gripper to gently push or slide the can toward the table center without lifting." + } + ], + "global_plan": "Since the gripper never closes, the robot uses non-grasping manipulation: approaching, repositioning, and nudging the can to center via contact.", + "notes": "All segments show zero gripper delta; no grasp/lift/place actions are permitted. Plan reflects observed open-gripper pushing behavior." + } + }, + "episode_goal": "Move the can to the center of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2447424679994583, + 0.015171485021710396, + 0.04097655788064003, + -3.10691237449646, + -0.35085833072662354, + 0.36314526200294495 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, near a yellow can and other objects. No movement or contact has occurred yet. The next action should be to move the arm closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 9 cm, move left 11 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2423776537179947, + 0.015021027065813541, + 0.03794091194868088, + -3.1038951873779297, + -0.33713483810424805, + 0.365745484828949 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 10 cm, move left 12 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23870746791362762, + 0.022254623472690582, + 0.03732655942440033, + -3.104759454727173, + -0.31443947553634644, + 0.41880375146865845 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 11 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24838733673095703, + 0.03954894468188286, + 0.04476451501250267, + -3.136967420578003, + -0.3432115614414215, + 0.4932454228401184 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open; then move forward 11 cm, move left 12 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2607535421848297, + 0.060095060616731644, + 0.0496663898229599, + 3.1411728858947754, + -0.39499154686927795, + 0.5717538595199585 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 559, + 478, + 994, + 994 + ], + "wooden table": [ + 3, + 164, + 996, + 995 + ], + "metal strainer": [ + 583, + 247, + 778, + 473 + ], + "yellow toy lemon": [ + 220, + 535, + 414, + 694 + ], + "green toy vegetable": [ + 618, + 290, + 693, + 390 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 11 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2762845754623413, + 0.08167192339897156, + 0.052530884742736816, + 3.1245205402374268, + -0.43680721521377563, + 0.7004904747009277 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 8 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2999987304210663, + 0.10845297574996948, + 0.05885467678308487, + 3.114853858947754, + -0.43053901195526123, + 0.8184861540794373 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142271935939789, + 0.11922730505466461, + 0.06356800347566605, + 3.08571720123291, + -0.4128095507621765, + 0.9224340319633484 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 6 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.32655251026153564, + 0.13396881520748138, + 0.06877017021179199, + 3.0668864250183105, + -0.4357576072216034, + 1.0558263063430786 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 560, + 478, + 994, + 994 + ], + "wooden table": [ + 3, + 178, + 996, + 995 + ], + "pringles": [ + 356, + 246, + 511, + 471 + ], + "metal strainer": [ + 583, + 248, + 779, + 473 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402023911476135, + 0.1533113718032837, + 0.06324419379234314, + 3.0555479526519775, + -0.46724388003349304, + 1.1720623970031738 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35297316312789917, + 0.16676247119903564, + 0.06145274639129639, + 3.046929359436035, + -0.4757441282272339, + 1.2612375020980835 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3622118830680847, + 0.17963065207004547, + 0.04886060953140259, + 3.0512564182281494, + -0.5044806003570557, + 1.3689717054367065 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673860728740692, + 0.182853102684021, + 0.03637900575995445, + 3.065345525741577, + -0.5125356912612915, + 1.3778091669082642 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3731895387172699, + 0.18065255880355835, + 0.028173256665468216, + 3.029691457748413, + -0.5070476531982422, + 1.3939560651779175 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37772634625434875, + 0.17256689071655273, + 0.02246755175292492, + 2.977458953857422, + -0.47384893894195557, + 1.4006637334823608 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 10 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3772309124469757, + 0.16110503673553467, + 0.016523487865924835, + 2.982832431793213, + -0.44253963232040405, + 1.3654576539993286 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 11 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37671273946762085, + 0.15107709169387817, + 0.013724266551434994, + 3.001685619354248, + -0.43459445238113403, + 1.3277349472045898 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 11 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36879491806030273, + 0.13669738173484802, + 0.002215609885752201, + 3.0360066890716553, + -0.39743542671203613, + 1.2595784664154053 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the yellow can. No contact has been made yet, and the can remains in its initial position. The next action is to continue moving the end-effector closer to the can to prepare for nudging it toward the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36800047755241394, + 0.13348284363746643, + -0.00010261759598506615, + 3.042576789855957, + -0.4079280495643616, + 1.2355155944824219 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.362469881772995, + 0.12286610901355743, + 0.004138062708079815, + 3.0324480533599854, + -0.4264414310455322, + 1.2107276916503906 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3523712754249573, + 0.1091262623667717, + 0.009238087572157383, + 3.023932456970215, + -0.4141659438610077, + 1.164821743965149 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3447778820991516, + 0.09577131271362305, + 0.006570478435605764, + 3.0367343425750732, + -0.4054907262325287, + 1.143538236618042 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3368456959724426, + 0.08482372015714645, + 0.005909773986786604, + 3.0401253700256348, + -0.39522042870521545, + 1.1440746784210205 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 560, + 478, + 995, + 994 + ], + "pringles": [ + 393, + 339, + 548, + 576 + ], + "metal strainer": [ + 583, + 248, + 778, + 473 + ], + "wooden table": [ + 3, + 141, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33349713683128357, + 0.07862434536218643, + 0.004726424813270569, + 3.041614055633545, + -0.3862362205982208, + 1.1391078233718872 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3240785002708435, + 0.06767888367176056, + -0.002318398328498006, + 3.066551446914673, + -0.3693055808544159, + 1.1137363910675049 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3207131624221802, + 0.05381866544485092, + -0.0019526180112734437, + 3.068319320678711, + -0.3503212034702301, + 1.0931683778762817 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31724271178245544, + 0.045046575367450714, + -0.004752583801746368, + 3.0762367248535156, + -0.34628668427467346, + 1.0787955522537231 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31221213936805725, + 0.03987196832895279, + -0.006745537277311087, + 3.0857441425323486, + -0.3550870418548584, + 1.0730018615722656 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move up 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move right 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125569522380829, + 0.03945495933294296, + 0.0040365587919950485, + 3.0470197200775146, + -0.3706674575805664, + 1.0865272283554077 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move right 6 cm, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3107646405696869, + 0.04698524251580238, + 0.005668808706104755, + 3.0415866374969482, + -0.3566133379936218, + 1.1231580972671509 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move right 9 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31697073578834534, + 0.06098119914531708, + 0.016446860507130623, + 3.0195162296295166, + -0.3604040741920471, + 1.178524374961853 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3171015679836273, + 0.07589191943407059, + 0.02929765358567238, + 3.0028717517852783, + -0.3571878671646118, + 1.2246708869934082 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 560, + 479, + 994, + 994 + ], + "pringles": [ + 441, + 419, + 606, + 679 + ], + "metal strainer": [ + 584, + 248, + 777, + 472 + ], + "yellow toy lemon": [ + 220, + 536, + 413, + 693 + ], + "wooden table": [ + 3, + 141, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30903664231300354, + 0.08758027106523514, + 0.04035632312297821, + 3.023289203643799, + -0.34252291917800903, + 1.2186739444732666 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985183596611023, + 0.09719478338956833, + 0.04333239048719406, + 3.0700976848602295, + -0.3054690659046173, + 1.1556648015975952 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "reposition around can", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2788754999637604, + 0.10713094472885132, + 0.04095470905303955, + -3.1047885417938232, + -0.24855880439281464, + 1.0605920553207397 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "nudge can to center", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24942632019519806, + 0.11195790022611618, + 0.040963854640722275, + -3.0171327590942383, + -0.26866117119789124, + 0.8555000424385071 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "nudge can to center", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.23106548190116882, + 0.1034904420375824, + 0.036957405507564545, + -3.0198893547058105, + -0.2640001177787781, + 0.7266355156898499 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "nudge can to center", + "subtask_reasoning": "The robot is positioned near the can on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating non-grasping manipulation. The next likely action is to nudge or push the can toward the table center using contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.21809625625610352, + 0.08195609599351883, + 0.03902967646718025, + -3.0234410762786865, + -0.26057207584381104, + 0.6342300176620483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "nudge can to center", + "subtask_reasoning": "The robot arm is positioned above the table near the can, with the gripper open and no grasping action detected. The can remains off-center, and the robot has completed approach and repositioning phases. The next likely action is to make contact with the can to nudge it toward the table center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 34, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.21505355834960938, + 0.05056362971663475, + 0.042839501053094864, + -3.0461957454681396, + -0.2620609700679779, + 0.594019889831543 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "nudge can to center", + "subtask_reasoning": "The robot arm is positioned above the table near the can, with the gripper open and no grasping action detected. The can remains off-center, and the robot has completed approach and repositioning phases. The next likely action is to make contact with the can to nudge it toward the table center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2161945104598999, + 0.016596578061580658, + 0.04292941838502884, + -3.075629472732544, + -0.22931338846683502, + 0.5389845967292786 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "nudge can to center", + "subtask_reasoning": "The robot arm is positioned above the table near the can, with the gripper open and no grasping action detected. The can remains off-center, and the robot has completed approach and repositioning phases. The next likely action is to make contact with the can to nudge it toward the table center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2288917601108551, + -0.004045406822115183, + 0.05222877115011215, + -3.1154356002807617, + -0.26105809211730957, + 0.5762431025505066 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange towel": [ + 560, + 479, + 995, + 994 + ], + "pringles": [ + 449, + 457, + 606, + 678 + ], + "wooden table": [ + 3, + 174, + 996, + 995 + ], + "metal strainer": [ + 584, + 248, + 778, + 472 + ], + "yellow toy lemon": [ + 220, + 535, + 412, + 692 + ], + "green toy vegetable": [ + 616, + 290, + 695, + 391 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "reposition around can" + }, + { + "id": 3, + "subtask": "nudge can to center" + } + ], + "subtask_name": "nudge can to center", + "subtask_reasoning": "The robot arm is positioned above the table near the can, with the gripper open and no grasping action detected. The can remains off-center, and the robot has completed approach and repositioning phases. The next likely action is to make contact with the can to nudge it toward the table center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 34, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000842_ecot.json b/cot/chunk-0000/episode_0000842_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4e96354f120d47682294608a58326d116dab38a4 --- /dev/null +++ b/cot/chunk-0000/episode_0000842_ecot.json @@ -0,0 +1,2815 @@ +{ + "task_name": "episode_0000842", + "episode_json": "json/chunk-0000/episode_0000842.json", + "video_path": "videos/chunk-0000/image_0/episode_0000842.mp4", + "instruction": "Move the cylinder on top of blue double pillar.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000842.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.4542229175567627, + "std": 0.21567755937576294, + "delta_total": 0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45422, std=0.21568, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 6 + ], + [ + 3, + 7, + 17 + ], + [ + 4, + 18, + 20 + ], + [ + 5, + 21, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cylinder\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the cylinder on the table without grasping.\"},\n {\"id\": 2, \"name\": \"reposition near cylinder\", \"start\": 7, \"end\": 17, \"planning\": \"Adjust position and orientation to align with the cylinder for contact.\"},\n {\"id\": 3, \"name\": \"make contact and nudge\", \"start\": 18, \"end\": 20, \"planning\": \"Establish contact with the cylinder and nudge it slightly toward the target area.\"},\n {\"id\": 4, \"name\": \"grasp and lift cylinder\", \"start\": 21, \"end\": 31, \"planning\": \"Close gripper to grasp the cylinder, then lift it off the table surface.\"},\n {\"id\": 5, \"name\": \"place on blue double pillar\", \"start\": 32, \"end\": 41, \"planning\": \"Transport the grasped cylinder and release it on top of the blue double pillar structure.\"}\n ],\n \"global_plan\": \"Approach the cylinder, reposition for alignment, make contact to nudge it, then grasp and lift it before placing it precisely on the blue double pillar.\",\n \"notes\": \"Gripper evidence confirms no meaningful closing in segments 1-4; grasp wording is only applied in segment 5 where gripper range and image evidence support actual grasping. Segment 3 (frames 7-17) inferred as repositioning based on motion patterns and lack of gripper change. Final placement confirmed by gripper opening at frame 41 and visual evidence of cylinder atop pillar.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cylinder", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the cylinder on the table without grasping." + }, + { + "id": 2, + "name": "reposition near cylinder", + "start": 7, + "end": 17, + "planning": "Adjust position and orientation to align with the cylinder for contact." + }, + { + "id": 3, + "name": "make contact and nudge", + "start": 18, + "end": 20, + "planning": "Establish contact with the cylinder and nudge it slightly toward the target area." + }, + { + "id": 4, + "name": "grasp and lift cylinder", + "start": 21, + "end": 31, + "planning": "Close gripper to grasp the cylinder, then lift it off the table surface." + }, + { + "id": 5, + "name": "place on blue double pillar", + "start": 32, + "end": 41, + "planning": "Transport the grasped cylinder and release it on top of the blue double pillar structure." + } + ], + "global_plan": "Approach the cylinder, reposition for alignment, make contact to nudge it, then grasp and lift it before placing it precisely on the blue double pillar.", + "notes": "Gripper evidence confirms no meaningful closing in segments 1-4; grasp wording is only applied in segment 5 where gripper range and image evidence support actual grasping. Segment 3 (frames 7-17) inferred as repositioning based on motion patterns and lack of gripper change. Final placement confirmed by gripper opening at frame 41 and visual evidence of cylinder atop pillar." + } + }, + "episode_goal": "Place the wooden cylinder on top of the blue double pillar structure.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199460208415985, + 0.12604811787605286, + 0.14670734107494354, + -3.090691328048706, + -0.17007610201835632, + 0.5085322856903076 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No actions have been completed yet as this is the start of the approach phase. The gripper is open and the arm is beginning to move toward the cylinder. The next action is to continue advancing the end-effector to align with the cylinder for subsequent contact or grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, move down 6 cm, keep gripper open; then move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31774744391441345, + 0.12526504695415497, + 0.13478362560272217, + -3.084249973297119, + -0.133686825633049, + 0.5059171915054321 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No actions have been completed yet as this is the start of the approach phase. The gripper is open and the arm is beginning to move toward the cylinder. The next action is to continue advancing the end-effector to align with the cylinder for subsequent contact or grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040352463722229, + 0.1468275785446167, + 0.1293397843837738, + -3.0963456630706787, + -0.1632480025291443, + 0.570694088935852 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No actions have been completed yet as this is the start of the approach phase. The gripper is open and the arm is beginning to move toward the cylinder. The next action is to continue advancing the end-effector to align with the cylinder for subsequent contact or grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move down 5 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2837986946105957, + 0.16842663288116455, + 0.14562173187732697, + 3.1259706020355225, + -0.21278060972690582, + 0.6387230157852173 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26749861240386963, + 0.17105445265769958, + 0.14497148990631104, + 3.096752882003784, + -0.21775628626346588, + 0.635255753993988 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25054073333740234, + 0.17238688468933105, + 0.13193829357624054, + 3.079200267791748, + -0.18657633662223816, + 0.6362748146057129 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22979052364826202, + 0.16019468009471893, + 0.10800503194332123, + 3.127338409423828, + -0.16476742923259735, + 0.5888843536376953 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "approach cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move right 2 cm, move down 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21647077798843384, + 0.14741390943527222, + 0.08210727572441101, + -3.122123956680298, + -0.14498324692249298, + 0.5390790700912476 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 994 + ], + "wooden block": [ + 731, + 364, + 918, + 756 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21257007122039795, + 0.13623712956905365, + 0.06701167672872543, + -3.0938189029693604, + -0.14506331086158752, + 0.5093414783477783 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 994 + ], + "wooden block": [ + 731, + 364, + 918, + 756 + ], + "blue blocks": [ + 399, + 33, + 537, + 232 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21592499315738678, + 0.13220049440860748, + 0.06650371104478836, + -3.104998826980591, + -0.15351209044456482, + 0.5148972272872925 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21998926997184753, + 0.1261308342218399, + 0.0690765306353569, + -3.12394642829895, + -0.14476367831230164, + 0.5278521776199341 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22658805549144745, + 0.12415686994791031, + 0.07037608325481415, + -3.1375012397766113, + -0.11998693645000458, + 0.5400922298431396 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. No contact or grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the cylinder to prepare for alignment and contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, close gripper; then move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23309554159641266, + 0.12109081447124481, + 0.06905121356248856, + 3.140167713165283, + -0.1090787723660469, + 0.5431758761405945 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot has approached the cylinder and is now repositioning near it for alignment. The gripper is open and positioned close to the cylinder, indicating readiness for the next step. The most likely next action is to make contact with the cylinder to nudge it into a better position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23629358410835266, + 0.12106993794441223, + 0.05799582228064537, + -3.1267712116241455, + -0.08468805253505707, + 0.5490680932998657 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot has approached the cylinder and is now repositioning near it for alignment. The gripper is open and positioned close to the cylinder, indicating readiness for the next step. The most likely next action is to make contact with the cylinder to nudge it into a better position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2388693392276764, + 0.12089869379997253, + 0.04525566101074219, + -3.108408212661743, + -0.06740894168615341, + 0.5487704277038574 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot has approached the cylinder and is now repositioning near it for alignment. The gripper is open and positioned close to the cylinder, indicating readiness for the next step. The most likely next action is to make contact with the cylinder to nudge it into a better position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2406598925590515, + 0.12250389903783798, + 0.03316574543714523, + -3.095302104949951, + -0.05578737333416939, + 0.5499692559242249 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot has approached the cylinder and is now repositioning near it for alignment. The gripper is open and positioned close to the cylinder, indicating readiness for the next step. The most likely next action is to make contact with the cylinder to nudge it into a better position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24292130768299103, + 0.12464325875043869, + 0.026684457436203957, + -3.108581304550171, + -0.06167295202612877, + 0.5639921426773071 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot has approached the cylinder and is now repositioning near it for alignment. The gripper is open and positioned close to the cylinder, indicating readiness for the next step. The most likely next action is to make contact with the cylinder to nudge it into a better position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed; then move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2497909665107727, + 0.12484460324048996, + 0.032271649688482285, + 3.11995792388916, + -0.06694095581769943, + 0.5961005091667175 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "reposition near cylinder", + "subtask_reasoning": "The robot has approached the cylinder and is now repositioning near it for alignment. The gripper is open and positioned close to the cylinder, indicating readiness for the next step. The most likely next action is to make contact with the cylinder to nudge it into a better position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25816112756729126, + 0.1277020275592804, + 0.05164292827248573, + 3.0780558586120605, + -0.062165383249521255, + 0.6263335347175598 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the cylinder and is now repositioning near it for alignment. The gripper is open and positioned close to the cylinder, indicating readiness for the next step. The most likely next action is to make contact with the cylinder to nudge it into a better position for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move up 10 cm, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27743634581565857, + 0.1293523758649826, + 0.0958295613527298, + 3.0442731380462646, + -0.09051089733839035, + 0.6377969980239868 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 993 + ], + "wooden block": [ + 731, + 364, + 918, + 756 + ], + "green block": [ + 408, + 216, + 534, + 290 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The approach and repositioning phases are complete, and the gripper remains open as no grasping is intended in this segment. The next action is to make gentle contact to nudge the cylinder toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2956055700778961, + 0.13174040615558624, + 0.13324350118637085, + 3.0092411041259766, + -0.13880671560764313, + 0.6679403781890869 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The approach and repositioning phases are complete, and the gripper remains open as no grasping is intended in this segment. The next action is to make gentle contact to nudge the cylinder toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.308664470911026, + 0.13051754236221313, + 0.1500702202320099, + 3.0358095169067383, + -0.19099940359592438, + 0.6755324602127075 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot's end-effector is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The approach and repositioning phases are complete, and the gripper remains open as no grasping is intended in this segment. The next action is to make gentle contact to nudge the cylinder toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31959906220436096, + 0.12425237894058228, + 0.1556123048067093, + 3.0516774654388428, + -0.21285565197467804, + 0.6534308791160583 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot's end-effector is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The approach and repositioning phases are complete, and the gripper remains open as no grasping is intended in this segment. The next action is to make gentle contact to nudge the cylinder toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256627023220062, + 0.11346638202667236, + 0.15130773186683655, + 3.0638792514801025, + -0.20784370601177216, + 0.6218011975288391 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot's end-effector is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The approach and repositioning phases are complete, and the gripper remains open as no grasping is intended in this segment. The next action is to make gentle contact to nudge the cylinder toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 3 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32891565561294556, + 0.10577351599931717, + 0.15198779106140137, + 3.0642752647399902, + -0.21416611969470978, + 0.6052524447441101 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot's end-effector is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The approach and repositioning phases are complete, and the gripper remains open as no grasping is intended in this segment. The next action is to make gentle contact to nudge the cylinder toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 3 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.33375757932662964, + 0.10411577671766281, + 0.1466660350561142, + 3.068344831466675, + -0.2072029858827591, + 0.6047449111938477 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot's end-effector is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The approach and repositioning phases are complete, and the gripper remains open as no grasping is intended in this segment. The next action is to make gentle contact to nudge the cylinder toward the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34026890993118286, + 0.10435177385807037, + 0.14288674294948578, + 3.0702855587005615, + -0.2045009434223175, + 0.6065536737442017 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.34704792499542236, + 0.1055169627070427, + 0.14287137985229492, + 3.0688610076904297, + -0.20721521973609924, + 0.6123971939086914 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35518622398376465, + 0.10549858957529068, + 0.13966424763202667, + 3.0734941959381104, + -0.19574378430843353, + 0.6135720610618591 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36145156621932983, + 0.10662470012903214, + 0.13226744532585144, + 3.079927444458008, + -0.18167679011821747, + 0.6161431670188904 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 993 + ], + "wooden block": [ + 730, + 364, + 918, + 756 + ], + "blue blocks": [ + 397, + 39, + 537, + 232 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36471837759017944, + 0.10776302963495255, + 0.12558101117610931, + 3.0925180912017822, + -0.17133066058158875, + 0.6117603182792664 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3679737150669098, + 0.1084035336971283, + 0.12206914275884628, + 3.096367120742798, + -0.17434397339820862, + 0.613990843296051 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "grasp and lift cylinder", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3714744448661804, + 0.10886200517416, + 0.12199760973453522, + 3.0969581604003906, + -0.18277350068092346, + 0.6156532764434814 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3735060691833496, + 0.10758529603481293, + 0.12143626064062119, + 3.0972084999084473, + -0.18126389384269714, + 0.6125725507736206 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3764723837375641, + 0.10711422562599182, + 0.12235020101070404, + 3.0923826694488525, + -0.17804239690303802, + 0.6191994547843933 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.37961846590042114, + 0.10588914155960083, + 0.12823250889778137, + 3.0886659622192383, + -0.1864444762468338, + 0.6112847328186035 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is positioned near the wooden cylinder on the table, with the blue double pillar visible in the background. The gripper remains open and stationary, indicating no grasp has occurred yet. The next action should involve closing the gripper to make contact and secure the cylinder for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3798385262489319, + 0.1050906628370285, + 0.12822966277599335, + 3.0886714458465576, + -0.1863488256931305, + 0.6025432348251343 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 994, + 993 + ], + "wooden block": [ + 730, + 363, + 919, + 756 + ], + "blue blocks": [ + 407, + 28, + 541, + 229 + ] + } + } + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is currently holding the wooden cylinder above the blue double pillar structure, having successfully lifted it from the table. The gripper is closed around the object, and the end-effector is positioned for placement. The next action is to lower the cylinder onto the top surface of the blue pillars to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3811551332473755, + 0.10567481070756912, + 0.12520606815814972, + 3.090898036956787, + -0.18546822667121887, + 0.6002222299575806 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is currently holding the wooden cylinder above the blue double pillar structure, having successfully lifted it from the table. The gripper is closed around the object, and the end-effector is positioned for placement. The next action is to lower the cylinder onto the top surface of the blue pillars to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.38139626383781433, + 0.10643208771944046, + 0.11858323961496353, + 3.1008358001708984, + -0.17256523668766022, + 0.594380259513855 + ], + "gripper_value": 0.8490449786186218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is currently holding the wooden cylinder above the blue double pillar structure, having successfully lifted it from the table. The gripper is closed around the object, and the end-effector is positioned for placement. The next action is to lower the cylinder onto the top surface of the blue pillars to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.38105687499046326, + 0.10816910862922668, + 0.11722073704004288, + 3.1109814643859863, + -0.1792304515838623, + 0.5910042524337769 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is currently holding the wooden cylinder above the blue double pillar structure, having successfully lifted it from the table. The gripper is closed around the object, and the end-effector is positioned for placement. The next action is to lower the cylinder onto the top surface of the blue pillars to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.37919044494628906, + 0.10810436308383942, + 0.11553170531988144, + 3.1148428916931152, + -0.178786501288414, + 0.5863139629364014 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is currently holding the wooden cylinder above the blue double pillar structure, having successfully lifted it from the table. The gripper is closed around the object, and the end-effector is positioned for placement. The next action is to lower the cylinder onto the top surface of the blue pillars to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.37722504138946533, + 0.10436797142028809, + 0.11896950006484985, + 3.0969362258911133, + -0.1711118072271347, + 0.5858124494552612 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the wooden cylinder on top of the blue double pillar structure." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cylinder" + }, + { + "id": 2, + "subtask": "reposition near cylinder" + }, + { + "id": 3, + "subtask": "make contact and nudge" + }, + { + "id": 4, + "subtask": "grasp and lift cylinder" + }, + { + "id": 5, + "subtask": "place on blue double pillar" + } + ], + "subtask_name": "place on blue double pillar", + "subtask_reasoning": "The robot is currently holding the wooden cylinder above the blue double pillar structure, having successfully lifted it from the table. The gripper is closed around the object, and the end-effector is positioned for placement. The next action is to lower the cylinder onto the top surface of the blue pillars to complete the stacking task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000843_ecot.json b/cot/chunk-0000/episode_0000843_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5127d6464512c6beafed09482e9788cccbea849a --- /dev/null +++ b/cot/chunk-0000/episode_0000843_ecot.json @@ -0,0 +1,1222 @@ +{ + "task_name": "episode_0000843", + "episode_json": "json/chunk-0000/episode_0000843.json", + "video_path": "videos/chunk-0000/image_0/episode_0000843.mp4", + "instruction": "Put pan on stove from sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000843.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9507378935813904, + "std": 0.43508410453796387, + "delta_total": -0.9507378935813904, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95074, std=0.43508, total_delta=-0.95074). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 111, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 15 + ], + [ + 3, + 16, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pan in sink\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector to the pan in the sink and close gripper to secure grasp as evidenced by gripper value drop from 1.0 to 0.8.\"},\n {\"id\": 2, \"name\": \"lift and transport pan toward stove\", \"start\": 11, \"end\": 15, \"planning\": \"Lift pan from sink and move it horizontally toward the stove while maintaining grip, confirmed by continued gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"place pan on stove and release\", \"start\": 16, \"end\": 19, \"planning\": \"Position pan over stove burner and release grip (gripper remains open), allowing pan to rest on stove surface without active holding.\"}\n ],\n \"global_plan\": \"Grasp pan in sink, lift and carry to stove, then place and release on burner.\",\n \"notes\": \"Segment 3 shows no gripper closing — consistent with release phase; images confirm pan is resting on stove at frame 19.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pan in sink", + "start": 0, + "end": 10, + "planning": "Move end-effector to the pan in the sink and close gripper to secure grasp as evidenced by gripper value drop from 1.0 to 0.8." + }, + { + "id": 2, + "name": "lift and transport pan toward stove", + "start": 11, + "end": 15, + "planning": "Lift pan from sink and move it horizontally toward the stove while maintaining grip, confirmed by continued gripper closure and upward motion." + }, + { + "id": 3, + "name": "place pan on stove and release", + "start": 16, + "end": 19, + "planning": "Position pan over stove burner and release grip (gripper remains open), allowing pan to rest on stove surface without active holding." + } + ], + "global_plan": "Grasp pan in sink, lift and carry to stove, then place and release on burner.", + "notes": "Segment 3 shows no gripper closing — consistent with release phase; images confirm pan is resting on stove at frame 19." + } + }, + "episode_goal": "Place the metal pan from the sink onto the blue toy stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2370932698249817, + -0.06088486686348915, + 0.10840252041816711, + -3.1064369678497314, + -0.16123329102993011, + -0.06398485600948334 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pan visible below. The gripper is currently open and has not yet made contact with the pan. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23594596982002258, + -0.06041829288005829, + 0.10102367401123047, + -3.114495038986206, + -0.14218686521053314, + -0.14415577054023743 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pan visible below. The gripper is currently open and has not yet made contact with the pan. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.239101842045784, + -0.0588456429541111, + 0.09524931013584137, + -3.1076691150665283, + -0.14272983372211456, + -0.27156752347946167 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pan visible below. The gripper is currently open and has not yet made contact with the pan. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24236086010932922, + -0.06125188618898392, + 0.09395293891429901, + -3.1076607704162598, + -0.16023783385753632, + -0.35552987456321716 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pan visible below. The gripper is currently open and has not yet made contact with the pan. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt back 10 degrees, close gripper; then move left 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24300913512706757, + -0.06665302813053131, + 0.09014471620321274, + -3.1189653873443604, + -0.18424738943576813, + -0.38491061329841614 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned above the sink with the metal pan visible below. The gripper is currently open and has not yet made contact with the pan. The next action is to lower the arm and close the gripper to grasp the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, tilt back 10 degrees, close gripper; then move left 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24047082662582397, + -0.07498849928379059, + 0.08724471926689148, + -3.1231002807617188, + -0.178601935505867, + -0.38249653577804565 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23725290596485138, + -0.08182813972234726, + 0.08745703846216202, + -3.129131317138672, + -0.17443832755088806, + -0.3977220058441162 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23732508718967438, + -0.09141161292791367, + 0.08809145539999008, + -3.129289388656616, + -0.1961653083562851, + -0.3939324617385864 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23629741370677948, + -0.09736316651105881, + 0.07813197374343872, + -3.119572877883911, + -0.2258284091949463, + -0.4015906751155853 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23650260269641876, + -0.09807635843753815, + 0.06846592575311661, + -3.1293458938598633, + -0.26697278022766113, + -0.40236175060272217 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange crate": [ + 757, + 437, + 992, + 991 + ], + "green toy vegetable": [ + 348, + 71, + 401, + 138 + ], + "yellow toy fruit": [ + 413, + 99, + 492, + 206 + ], + "black mixer": [ + 336, + 3, + 866, + 736 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23957276344299316, + -0.0985679104924202, + 0.06590083986520767, + -3.1230504512786865, + -0.3007224500179291, + -0.40755587816238403 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "approach and grasp pan in sink", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24013681709766388, + -0.09851612150669098, + 0.0665612444281578, + -3.1147830486297607, + -0.30100271105766296, + -0.408935546875 + ], + "gripper_value": 0.47944000363349915 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "lift and transport pan toward stove", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23881584405899048, + -0.09559206664562225, + 0.06771676987409592, + -3.1194136142730713, + -0.2518286406993866, + -0.3954193592071533 + ], + "gripper_value": 0.25065502524375916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "lift and transport pan toward stove", + "subtask_reasoning": "The robot arm is positioned directly above the metal pan in the sink, with the gripper open and ready. No part of the task has been completed yet as the pan remains in the sink. The next action is to lower the gripper to make contact with and grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2390279620885849, + -0.09205307066440582, + 0.07569433003664017, + -3.1257424354553223, + -0.1993163675069809, + -0.38883668184280396 + ], + "gripper_value": 0.1506364643573761 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "lift and transport pan toward stove", + "subtask_reasoning": "The robot is holding the metal pan above the sink, having successfully grasped and lifted it. The arm is positioned to begin moving the pan toward the blue toy stove. The next action is to transport the pan horizontally towards the stove burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23791910707950592, + -0.09006813168525696, + 0.09523509442806244, + -3.125001907348633, + -0.1502412110567093, + -0.3820594847202301 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange crate": [ + 792, + 378, + 995, + 992 + ], + "yellow toy fruit": [ + 415, + 67, + 492, + 206 + ], + "green toy vegetable": [ + 353, + 28, + 531, + 130 + ], + "black mixer": [ + 608, + 4, + 916, + 642 + ] + } + } + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "lift and transport pan toward stove", + "subtask_reasoning": "The robot is holding the metal pan above the sink, having successfully grasped and lifted it. The arm is positioned to begin moving the pan toward the blue toy stove. The next action is to transport the pan horizontally towards the stove burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23365840315818787, + -0.08732917904853821, + 0.11418627202510834, + -3.1038284301757812, + -0.0910668894648552, + -0.3770153522491455 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "lift and transport pan toward stove", + "subtask_reasoning": "The robot is holding the metal pan above the sink, having successfully grasped and lifted it. The arm is positioned to begin moving the pan toward the blue toy stove. The next action is to transport the pan horizontally towards the stove burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22805312275886536, + -0.08247984200716019, + 0.1269124150276184, + -3.0569965839385986, + -0.06967383623123169, + -0.37827420234680176 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "place pan on stove and release", + "subtask_reasoning": "The robot is holding the metal pan above the sink, having successfully grasped and lifted it. The arm is positioned to begin moving the pan toward the blue toy stove. The next action is to transport the pan horizontally towards the stove burners." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22034350037574768, + -0.07400313019752502, + 0.1402803510427475, + -3.026130199432373, + -0.04937853664159775, + -0.3806954324245453 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "place pan on stove and release", + "subtask_reasoning": "The robot is holding the metal pan directly above the blue toy stove burner, having completed the transport phase. Since the segment-level gripper evidence shows no closing signal, the pan is currently being supported by the arm rather than actively placed or released. The next action is to lower the pan until it makes contact with the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21925991773605347, + -0.07040224224328995, + 0.172038272023201, + -3.011561632156372, + -0.013558927923440933, + -0.36531293392181396 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "place pan on stove and release", + "subtask_reasoning": "The robot is holding the metal pan directly above the blue toy stove burner, having completed the transport phase. Since the segment-level gripper evidence shows no closing signal, the pan is currently being supported by the arm rather than actively placed or released. The next action is to lower the pan until it makes contact with the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21680939197540283, + -0.06478109210729599, + 0.19832514226436615, + -2.9808387756347656, + 0.025217145681381226, + -0.3591875731945038 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the metal pan from the sink onto the blue toy stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pan in sink" + }, + { + "id": 2, + "subtask": "lift and transport pan toward stove" + }, + { + "id": 3, + "subtask": "place pan on stove and release" + } + ], + "subtask_name": "place pan on stove and release", + "subtask_reasoning": "The robot is holding the metal pan directly above the blue toy stove burner, having completed the transport phase. Since the segment-level gripper evidence shows no closing signal, the pan is currently being supported by the arm rather than actively placed or released. The next action is to lower the pan until it makes contact with the stove surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000846_ecot.json b/cot/chunk-0000/episode_0000846_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a64dcec6f24b32a75cd2324e004c39319e0414 --- /dev/null +++ b/cot/chunk-0000/episode_0000846_ecot.json @@ -0,0 +1,1079 @@ +{ + "task_name": "episode_0000846", + "episode_json": "json/chunk-0000/episode_0000846.json", + "video_path": "videos/chunk-0000/image_0/episode_0000846.mp4", + "instruction": "Put eggplant in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000846.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.3076171278953552, + "std": 0.14850196242332458, + "delta_total": -0.3076171278953552, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.30762, std=0.14850, total_delta=-0.30762). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper toward the eggplant on the counter while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp eggplant\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the eggplant and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and move eggplant to pot\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the grasped eggplant and translate it over the pot in the sink, maintaining grip without further closing.\"}\n ],\n \"global_plan\": \"Approach the eggplant, grasp it securely using gripper closure observed in segment 1, then lift and move it to position above the pot in the sink during segment 2.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.30762) and image evidence supports grasping; Segment 2 has no gripper change but motion indicates transport while holding — consistent with carrying already-grasped object.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant", + "start": 0, + "end": 5, + "planning": "Move the gripper toward the eggplant on the counter while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp eggplant", + "start": 6, + "end": 12, + "planning": "Close the gripper around the eggplant and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and move eggplant to pot", + "start": 13, + "end": 16, + "planning": "Lift the grasped eggplant and translate it over the pot in the sink, maintaining grip without further closing." + } + ], + "global_plan": "Approach the eggplant, grasp it securely using gripper closure observed in segment 1, then lift and move it to position above the pot in the sink during segment 2.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.30762) and image evidence supports grasping; Segment 2 has no gripper change but motion indicates transport while holding — consistent with carrying already-grasped object." + } + }, + "episode_goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.226235032081604, + 0.18255120515823364, + 0.04141894355416298, + -2.8335118293762207, + -0.07425043731927872, + -0.15900865197181702 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the purple eggplant visible on the left side of the basin. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2226392924785614, + 0.1826775223016739, + 0.03976878896355629, + -2.8730549812316895, + -0.03300747275352478, + -0.18246625363826752 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the purple eggplant visible on the left side of the basin. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22108377516269684, + 0.19631697237491608, + 0.046814292669296265, + -2.8734920024871826, + -0.03706953674554825, + -0.19686754047870636 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "utensil holder": [ + 221, + 409, + 431, + 614 + ], + "green sponge": [ + 569, + 157, + 714, + 259 + ], + "red bell pepper": [ + 814, + 352, + 910, + 489 + ], + "faucet": [ + 402, + 6, + 584, + 349 + ], + "purple onion": [ + 286, + 159, + 387, + 273 + ], + "orange carrot": [ + 368, + 34, + 422, + 164 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned near the purple eggplant on the left side of the sink, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the eggplant to prepare for grasping in the subsequent segment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move right 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2176818996667862, + 0.2040354460477829, + 0.046907175332307816, + -2.875225782394409, + -0.04771361127495766, + -0.2075643390417099 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned near the purple eggplant on the left side of the sink, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the eggplant to prepare for grasping in the subsequent segment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2179369032382965, + 0.21070069074630737, + 0.03751055896282196, + -2.9053030014038086, + -0.06061120331287384, + -0.1942053884267807 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned near the purple eggplant on the left side of the sink, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the eggplant to prepare for grasping in the subsequent segment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 3 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21875053644180298, + 0.21539786458015442, + 0.025657182559370995, + -2.9341087341308594, + -0.08532334119081497, + -0.18136167526245117 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned near the purple eggplant on the left side of the sink, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the eggplant to prepare for grasping in the subsequent segment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 5 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 4 cm, move right 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.218684121966362, + 0.2178892195224762, + 0.016167687252163887, + -2.949387788772583, + -0.10139442980289459, + -0.16115102171897888 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned near the purple eggplant on the left side of the sink, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the eggplant to prepare for grasping in the subsequent segment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2177836149930954, + 0.22093690931797028, + 0.008042748086154461, + -2.9593467712402344, + -0.1137128546833992, + -0.14217813313007355 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned near the purple eggplant on the left side of the sink, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the eggplant to prepare for grasping in the subsequent segment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2186758667230606, + 0.22293637692928314, + 0.0031671866308897734, + -2.9606969356536865, + -0.12772782146930695, + -0.1393647938966751 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned near the purple eggplant on the left side of the sink, with the gripper open and no contact yet. No part of the subtask has been completed. The next action is to move the gripper closer to the eggplant to prepare for grasping in the subsequent segment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2180684208869934, + 0.22434678673744202, + 0.0010860911570489407, + -2.965996026992798, + -0.13726267218589783, + -0.12339916080236435 + ], + "gripper_value": 0.8168079853057861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant located on the left side of the sink. The gripper is currently open and positioned near the eggplant, ready to initiate contact. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21928425133228302, + 0.2256004959344864, + 0.001373285660520196, + -2.965228319168091, + -0.14127419888973236, + -0.11154036223888397 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant located on the left side of the sink. The gripper is currently open and positioned near the eggplant, ready to initiate contact. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 3 cm, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22189822793006897, + 0.22245581448078156, + 0.0035205786116421223, + -2.996291399002075, + -0.14373411238193512, + -0.10635548084974289 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant located on the left side of the sink. The gripper is currently open and positioned near the eggplant, ready to initiate contact. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23910923302173615, + 0.21187222003936768, + 0.013726414181292057, + -2.990856647491455, + -0.16417929530143738, + -0.11524179577827454 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant located on the left side of the sink. The gripper is currently open and positioned near the eggplant, ready to initiate contact. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27335768938064575, + 0.19864457845687866, + 0.031795650720596313, + -2.9438652992248535, + -0.2203904390335083, + -0.15556927025318146 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 403, + 6, + 584, + 349 + ], + "purple onion": [ + 287, + 159, + 388, + 272 + ], + "orange carrot": [ + 368, + 35, + 423, + 164 + ], + "green sponge": [ + 567, + 157, + 715, + 260 + ], + "red bell pepper": [ + 814, + 353, + 909, + 489 + ], + "cabbage": [ + 741, + 193, + 867, + 347 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "lift and move eggplant to pot", + "subtask_reasoning": "The robot has approached the purple eggplant located on the left side of the sink. The gripper is currently open and positioned near the eggplant, ready to initiate contact. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29841285943984985, + 0.1881035566329956, + 0.033600445836782455, + -2.9326491355895996, + -0.24766314029693604, + -0.19084087014198303 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "lift and move eggplant to pot", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant and is currently lifting it above the sink area. The gripper remains closed with no further closure observed in this segment, indicating the object is securely held. The next action is to continue moving the eggplant toward the metal pot inside the sink basin for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31222692131996155, + 0.17523357272148132, + 0.022090397775173187, + -2.9625120162963867, + -0.26190146803855896, + -0.20082169771194458 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "lift and move eggplant to pot", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant and is currently lifting it above the sink area. The gripper remains closed with no further closure observed in this segment, indicating the object is securely held. The next action is to continue moving the eggplant toward the metal pot inside the sink basin for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3187812268733978, + 0.17070288956165314, + 0.012522483244538307, + -2.9867310523986816, + -0.296883225440979, + -0.2066633105278015 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the left side of the sink and place it into the metal pot located inside the sink basin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and move eggplant to pot" + } + ], + "subtask_name": "lift and move eggplant to pot", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant and is currently lifting it above the sink area. The gripper remains closed with no further closure observed in this segment, indicating the object is securely held. The next action is to continue moving the eggplant toward the metal pot inside the sink basin for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000847_ecot.json b/cot/chunk-0000/episode_0000847_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3f57f8734ca95bb823819599d5f3c6a8351225d3 --- /dev/null +++ b/cot/chunk-0000/episode_0000847_ecot.json @@ -0,0 +1,3203 @@ +{ + "task_name": "episode_0000847", + "episode_json": "json/chunk-0000/episode_0000847.json", + "video_path": "videos/chunk-0000/image_0/episode_0000847.mp4", + "instruction": "Put the white spatula to the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 47, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000847.json" + }, + "fps": 5.0, + "T_eff": 47, + "gripper_behavior_summary": { + "available": true, + "range": 0.7773064970970154, + "std": 0.3587944507598877, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77731, std=0.35879, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37, + 37 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 19 + ], + [ + 3, + 20, + 29 + ], + [ + 4, + 30, + 36 + ], + [ + 5, + 37, + 46 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the white spatula on the stovetop without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp spatula\", \"start\": 10, \"end\": 19, \"planning\": \"Close the gripper around the handle of the white spatula to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport spatula\", \"start\": 20, \"end\": 29, \"planning\": \"Lift the grasped spatula and move it horizontally toward the right burner location.\"},\n {\"id\": 4, \"name\": \"place spatula on right burner\", \"start\": 30, \"end\": 36, \"planning\": \"Lower the spatula onto the right burner while maintaining grip, then begin releasing contact.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 37, \"end\": 46, \"planning\": \"Fully open the gripper to release the spatula on the burner and retract the arm away from the stove.\"}\n ],\n \"global_plan\": \"Approach the white spatula, grasp it securely, lift and carry it to the right burner, place it down gently, then release and retreat to complete the task.\",\n \"notes\": \"Segment 1 (frame 0) is merged into subtask 1 as initial approach phase; Segment 2 (frames 1-19) split at frame 10 to separate approach from grasp based on gripper closure evidence; Segments 3-5 mapped directly to transport, placement, and release phases with gripper state and motion consistency.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the white spatula on the stovetop without closing the gripper." + }, + { + "id": 2, + "name": "grasp spatula", + "start": 10, + "end": 19, + "planning": "Close the gripper around the handle of the white spatula to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport spatula", + "start": 20, + "end": 29, + "planning": "Lift the grasped spatula and move it horizontally toward the right burner location." + }, + { + "id": 4, + "name": "place spatula on right burner", + "start": 30, + "end": 36, + "planning": "Lower the spatula onto the right burner while maintaining grip, then begin releasing contact." + }, + { + "id": 5, + "name": "release and retreat", + "start": 37, + "end": 46, + "planning": "Fully open the gripper to release the spatula on the burner and retract the arm away from the stove." + } + ], + "global_plan": "Approach the white spatula, grasp it securely, lift and carry it to the right burner, place it down gently, then release and retreat to complete the task.", + "notes": "Segment 1 (frame 0) is merged into subtask 1 as initial approach phase; Segment 2 (frames 1-19) split at frame 10 to separate approach from grasp based on gripper closure evidence; Segments 3-5 mapped directly to transport, placement, and release phases with gripper state and motion consistency." + } + }, + "episode_goal": "Place the white spatula on the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3597117066383362, + -0.0441204234957695, + 0.08568644523620605, + 3.1392877101898193, + -0.5976136922836304, + 0.21141910552978516 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 20 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565526306629181, + -0.04244216904044151, + 0.07360216230154037, + -3.125746011734009, + -0.5679224729537964, + 0.20563989877700806 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 20 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35130828619003296, + -0.030099693685770035, + 0.06690604984760284, + -3.0948333740234375, + -0.5791329145431519, + 0.24400854110717773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 18 cm, move up 2 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346768319606781, + -0.009446479380130768, + 0.06935831159353256, + -3.0486032962799072, + -0.5291699171066284, + 0.2716955840587616 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3267632722854614, + 0.0011058752425014973, + 0.09014421701431274, + -2.985255241394043, + -0.5091094374656677, + 0.2903639078140259 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 15 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32258954644203186, + 0.027239050716161728, + 0.09582261741161346, + -2.9806997776031494, + -0.47035300731658936, + 0.3691830635070801 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3233462870121002, + 0.05134430527687073, + 0.09801013767719269, + -2.9580535888671875, + -0.49752113223075867, + 0.40358391404151917 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 557, + 313, + 627, + 444 + ], + "hanging strainer": [ + 657, + 3, + 758, + 214 + ], + "wooden spatula": [ + 348, + 341, + 616, + 505 + ], + "sink": [ + 702, + 546, + 994, + 992 + ], + "toy stove": [ + 44, + 177, + 982, + 986 + ], + "whisk": [ + 181, + 234, + 293, + 575 + ] + } + } + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 2 cm, keep gripper open; then move left 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3189680278301239, + 0.08665775507688522, + 0.09728752821683884, + -2.929955005645752, + -0.5544346570968628, + 0.4815792739391327 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 2 cm, keep gripper open; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133088946342468, + 0.1152462363243103, + 0.09243395179510117, + -2.9014480113983154, + -0.5938230156898499, + 0.4671526551246643 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30936816334724426, + 0.13854125142097473, + 0.09220319986343384, + -2.894047260284424, + -0.6048422455787659, + 0.463600218296051 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061908483505249, + 0.15266035497188568, + 0.08206729590892792, + -2.913458824157715, + -0.5726736187934875, + 0.4708543121814728 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "hanging strainer": [ + 657, + 4, + 758, + 214 + ], + "wooden spatula": [ + 362, + 340, + 617, + 505 + ], + "sink": [ + 703, + 546, + 994, + 993 + ], + "toy carrot": [ + 557, + 313, + 626, + 444 + ], + "whisk": [ + 180, + 244, + 290, + 576 + ], + "toy stove": [ + 39, + 127, + 978, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3127939701080322, + 0.16166171431541443, + 0.07547848671674728, + -2.9549806118011475, + -0.537586510181427, + 0.4759756028652191 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3110630512237549, + 0.1655023694038391, + 0.06230684742331505, + -2.978206157684326, + -0.5034776329994202, + 0.4842405319213867 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102349042892456, + 0.16430318355560303, + 0.05565319582819939, + -2.9995594024658203, + -0.4832914471626282, + 0.4992074966430664 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary relative to the object. The next action should involve moving the end effector closer to the spatula to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3070293962955475, + 0.16292473673820496, + 0.05403357744216919, + -3.004135847091675, + -0.4575982391834259, + 0.5084277391433716 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move right 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30373838543891907, + 0.1671842336654663, + 0.05092748999595642, + -3.0122382640838623, + -0.47050273418426514, + 0.5134700536727905 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 1 cm, move right 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30451875925064087, + 0.16544654965400696, + 0.038052916526794434, + -3.0418691635131836, + -0.4455980360507965, + 0.513937771320343 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 3 cm, move right 9 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30410683155059814, + 0.16825927793979645, + 0.030852803960442543, + -3.0574264526367188, + -0.43554410338401794, + 0.5219696760177612 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 13 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3045891523361206, + 0.16918036341667175, + 0.028826752677559853, + -3.062824010848999, + -0.43850210309028625, + 0.5306233763694763 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move right 17 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30717864632606506, + 0.16953423619270325, + 0.029949551448225975, + -3.066161632537842, + -0.4554697275161743, + 0.5299588441848755 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 6 cm, move right 20 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3013725280761719, + 0.17035451531410217, + 0.02601323276758194, + -3.051980972290039, + -0.45171093940734863, + 0.5462779402732849 + ], + "gripper_value": 0.3502708673477173 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 21 cm, move up 3 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.29852065443992615, + 0.17073677480220795, + 0.025299731642007828, + -3.0430076122283936, + -0.4451870322227478, + 0.5633398294448853 + ], + "gripper_value": 0.23329517245292664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 21 cm, move up 3 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29710960388183594, + 0.16746443510055542, + 0.03664764016866684, + -3.011791229248047, + -0.45497065782546997, + 0.560412585735321 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 21 cm, move up 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2936266362667084, + 0.16411474347114563, + 0.04817686975002289, + -2.9875845909118652, + -0.4470902681350708, + 0.5572622418403625 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has approached the white spatula on the left burner. The gripper is open and positioned near the spatula handle, ready to grasp. The next action is to close the gripper to securely hold the spatula." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 20 cm, move up 1 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29740267992019653, + 0.15777765214443207, + 0.06304454803466797, + -2.9604690074920654, + -0.4495150148868561, + 0.5269090533256531 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 20 cm, tilt right 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105648458003998, + 0.13184840977191925, + 0.07578440755605698, + -3.0224416255950928, + -0.43013787269592285, + 0.4854048192501068 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 17 cm, move down 2 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.33044737577438354, + 0.08093016594648361, + 0.09106189012527466, + -3.060030698776245, + -0.37605056166648865, + 0.39480265974998474 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden spatula": [ + 407, + 361, + 616, + 505 + ], + "hanging strainer": [ + 659, + 3, + 757, + 214 + ], + "whisk": [ + 279, + 255, + 392, + 459 + ], + "toy carrot": [ + 556, + 313, + 626, + 444 + ], + "toy stove": [ + 20, + 132, + 989, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.33497634530067444, + 0.04217804968357086, + 0.0954149141907692, + -3.0565154552459717, + -0.35179364681243896, + 0.3641287088394165 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34606748819351196, + -0.0018339802045375109, + 0.09195978939533234, + -3.096444606781006, + -0.31701838970184326, + 0.32936912775039673 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 559, + 313, + 627, + 444 + ], + "hanging strainer": [ + 659, + 2, + 757, + 211 + ], + "wooden spatula": [ + 415, + 362, + 615, + 505 + ], + "sink": [ + 702, + 546, + 994, + 993 + ], + "toy stove": [ + 21, + 122, + 990, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35847026109695435, + -0.02588828094303608, + 0.07750686258077621, + -3.1294667720794678, + -0.27791863679885864, + 0.23938243091106415 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport spatula", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36544889211654663, + -0.04011273756623268, + 0.05950869247317314, + 3.0983316898345947, + -0.2699029743671417, + 0.1418117880821228 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spatula on right burner", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3738146126270294, + -0.04936032369732857, + 0.044561967253685, + 3.079801321029663, + -0.2616998255252838, + 0.010693750344216824 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spatula on right burner", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3831856846809387, + -0.05002332106232643, + 0.031420521438121796, + 3.0534427165985107, + -0.2556447684764862, + -0.003110257675871253 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spatula on right burner", + "subtask_reasoning": "The robot has successfully grasped the white spatula from the left burner and is currently lifting it. The gripper is closed around the handle, and the arm is in motion to transport the spatula toward the right burner. The next action is to continue moving the spatula horizontally to position it above the right burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper; then move right 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.38785699009895325, + -0.04944603890180588, + 0.02204570546746254, + 3.037349224090576, + -0.2587045729160309, + -0.02086012065410614 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spatula on right burner", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.39052462577819824, + -0.047021061182022095, + 0.014529603533446789, + 3.0226244926452637, + -0.2801125645637512, + -0.010290478356182575 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spatula on right burner", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move back 1 cm, move left 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3886691629886627, + -0.04554556682705879, + 0.0018694979371502995, + 3.0137572288513184, + -0.25502878427505493, + -0.003023141762241721 + ], + "gripper_value": 0.23134081065654755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spatula on right burner", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 5 cm, move up 7 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3863324224948883, + -0.041562970727682114, + 0.001139528932981193, + 3.025136709213257, + -0.23364901542663574, + 0.027709515765309334 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place spatula on right burner", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3886776566505432, + -0.044358860701322556, + -0.0017366626998409629, + 2.9982216358184814, + -0.22934302687644958, + 0.02865605056285858 + ], + "gripper_value": 0.543278694152832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3864787817001343, + -0.04159517213702202, + -0.002547234296798706, + 3.0130927562713623, + -0.21493050456047058, + 0.02715851366519928 + ], + "gripper_value": 0.8463236093521118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3861914873123169, + -0.04361583665013313, + -0.00035195876262150705, + 3.0317225456237793, + -0.20292417705059052, + 0.030289964750409126 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 8 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3894973397254944, + -0.04808826744556427, + 0.018838854506611824, + 3.0348405838012695, + -0.24143628776073456, + 0.07319357991218567 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the white spatula directly above the right burner, having completed the approach and grasp phases. The gripper is closed around the spatula handle, and the end-effector is positioned for placement. The next action is to lower the spatula onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 6 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.39391085505485535, + -0.05079685151576996, + 0.041175827383995056, + 3.0212230682373047, + -0.3158358633518219, + 0.1764727383852005 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white spatula is already placed on the right burner, and the gripper is fully open (value ≈1.0), indicating release has occurred. The robot arm is positioned above the spatula with no active grasping motion. The next action is to retreat the arm away from the burner to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 4 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3920738399028778, + -0.0495598129928112, + 0.05784066021442413, + 3.0405867099761963, + -0.4071536660194397, + 0.2276366502046585 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white spatula is already placed on the right burner, and the gripper is fully open (value ≈1.0), indicating release has occurred. The robot arm is positioned above the spatula with no active grasping motion. The next action is to retreat the arm away from the burner to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 2 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3796323239803314, + -0.03270367532968521, + 0.05727289617061615, + 3.050051212310791, + -0.4778079390525818, + 0.36389994621276855 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white spatula is already placed on the right burner, and the gripper is fully open (value ≈1.0), indicating release has occurred. The robot arm is positioned above the spatula with no active grasping motion. The next action is to retreat the arm away from the burner to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.378363698720932, + -0.01972409151494503, + 0.06230490654706955, + 3.0472261905670166, + -0.5876139998435974, + 0.4172009229660034 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white spatula is already placed on the right burner, and the gripper is fully open (value ≈1.0), indicating release has occurred. The robot arm is positioned above the spatula with no active grasping motion. The next action is to retreat the arm away from the burner to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3857572674751282, + 0.004354066681116819, + 0.0658736303448677, + 3.0506505966186523, + -0.6341761946678162, + 0.40664660930633545 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white spatula is already placed on the right burner, and the gripper is fully open (value ≈1.0), indicating release has occurred. The robot arm is positioned above the spatula with no active grasping motion. The next action is to retreat the arm away from the burner to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.38981151580810547, + 0.020140476524829865, + 0.07795023173093796, + 3.12473201751709, + -0.6893728375434875, + 0.2961442172527313 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "hanging strainer": [ + 658, + 3, + 758, + 212 + ], + "sink": [ + 702, + 546, + 994, + 993 + ], + "toy carrot": [ + 556, + 313, + 626, + 443 + ], + "wooden spatula": [ + 376, + 343, + 615, + 505 + ], + "whisk": [ + 566, + 331, + 756, + 636 + ] + } + } + }, + "Understanding": { + "goal": "Place the white spatula on the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "grasp spatula" + }, + { + "id": 3, + "subtask": "lift and transport spatula" + }, + { + "id": 4, + "subtask": "place spatula on right burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white spatula is already placed on the right burner, and the gripper is fully open (value ≈1.0), indicating release has occurred. The robot arm is positioned above the spatula with no active grasping motion. The next action is to retreat the arm away from the burner to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 37, + "end": 46 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000848_ecot.json b/cot/chunk-0000/episode_0000848_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f435bf1d44444ea310794355281825f89837fd8e --- /dev/null +++ b/cot/chunk-0000/episode_0000848_ecot.json @@ -0,0 +1,3369 @@ +{ + "task_name": "episode_0000848", + "episode_json": "json/chunk-0000/episode_0000848.json", + "video_path": "videos/chunk-0000/image_0/episode_0000848.mp4", + "instruction": "Fold the cloth from left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000848.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9463672637939453, + "std": 0.4380158483982086, + "delta_total": 0.0019888877868652344, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94637, std=0.43802, total_delta=0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 415, + 415, + 415, + 415, + 415, + 415, + 515, + 515, + 515, + 515, + 515, + 515, + 315, + 315, + 315, + 315, + 315, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 115, + 141, + 141, + 141, + 141 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 11 + ], + [ + 3, + 12, + 14 + ], + [ + 4, + 15, + 20 + ], + [ + 5, + 21, + 26 + ], + [ + 6, + 27, + 31 + ], + [ + 7, + 32, + 40 + ], + [ + 8, + 41, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth edge\", \"start\": 0, \"end\": 11, \"planning\": \"Move the end-effector toward the right edge of the blue cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp cloth corner\", \"start\": 12, \"end\": 14, \"planning\": \"Close gripper to securely grasp the right corner of the cloth, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and initiate fold\", \"start\": 15, \"end\": 20, \"planning\": \"Lift the grasped corner upward and begin moving it leftward to start folding the cloth from right to left.\"},\n {\"id\": 4, \"name\": \"drag cloth across surface\", \"start\": 21, \"end\": 26, \"planning\": \"Drag the held cloth corner horizontally across the table toward the left side while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 27, \"end\": 31, \"planning\": \"Release the cloth after positioning the fold, then retreat upward with gripper still open as no further grasp is needed.\"},\n {\"id\": 6, \"name\": \"reposition for final adjustment\", \"start\": 32, \"end\": 40, \"planning\": \"Reposition end-effector above the folded cloth to prepare for final smoothing or alignment without grasping.\"},\n {\"id\": 7, \"name\": \"press and smooth fold\", \"start\": 41, \"end\": 44, \"planning\": \"Gently press down on the folded edge using the gripper (now closing again) to flatten and secure the fold.\"}\n ],\n \"global_plan\": \"Fold the blue cloth from right to left by first approaching and grasping the right corner, lifting and dragging it leftward, releasing after placement, then repositioning to press and smooth the final fold.\",\n \"notes\": \"Subtask boundaries align with observed motion phases and gripper behavior: grasp only where gripper closes meaningfully (segments 3 and 8), avoid grasp terminology in segments 1 and 6 where gripper is static/open. Segment 8’s closing is used for pressing, not lifting.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth edge", + "start": 0, + "end": 11, + "planning": "Move the end-effector toward the right edge of the blue cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp cloth corner", + "start": 12, + "end": 14, + "planning": "Close gripper to securely grasp the right corner of the cloth, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and initiate fold", + "start": 15, + "end": 20, + "planning": "Lift the grasped corner upward and begin moving it leftward to start folding the cloth from right to left." + }, + { + "id": 4, + "name": "drag cloth across surface", + "start": 21, + "end": 26, + "planning": "Drag the held cloth corner horizontally across the table toward the left side while maintaining grip." + }, + { + "id": 5, + "name": "release and retreat", + "start": 27, + "end": 31, + "planning": "Release the cloth after positioning the fold, then retreat upward with gripper still open as no further grasp is needed." + }, + { + "id": 6, + "name": "reposition for final adjustment", + "start": 32, + "end": 40, + "planning": "Reposition end-effector above the folded cloth to prepare for final smoothing or alignment without grasping." + }, + { + "id": 7, + "name": "press and smooth fold", + "start": 41, + "end": 44, + "planning": "Gently press down on the folded edge using the gripper (now closing again) to flatten and secure the fold." + } + ], + "global_plan": "Fold the blue cloth from right to left by first approaching and grasping the right corner, lifting and dragging it leftward, releasing after placement, then repositioning to press and smooth the final fold.", + "notes": "Subtask boundaries align with observed motion phases and gripper behavior: grasp only where gripper closes meaningfully (segments 3 and 8), avoid grasp terminology in segments 1 and 6 where gripper is static/open. Segment 8’s closing is used for pressing, not lifting." + } + }, + "episode_goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3632272481918335, + 0.043262965977191925, + 0.10858844965696335, + 2.947016477584839, + -0.054084692150354385, + -0.04045432433485985 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating the approach phase has begun. No contact or grasping has occurred yet as the end-effector remains elevated. The next action is to lower the gripper toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 21 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36262574791908264, + 0.04256764426827431, + 0.09482074528932571, + 2.937603712081909, + -0.01595589518547058, + -0.03714973106980324 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating the approach phase has begun. No contact or grasping has occurred yet as the end-effector remains elevated. The next action is to lower the gripper toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37832212448120117, + 0.007956755347549915, + 0.09775074571371078, + 2.9409446716308594, + -0.03539358824491501, + -0.10431942343711853 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating the approach phase has begun. No contact or grasping has occurred yet as the end-effector remains elevated. The next action is to lower the gripper toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 17 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38844576478004456, + -0.038900453597307205, + 0.10085626691579819, + 2.961637496948242, + -0.05102839693427086, + -0.20715148746967316 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white ball": [ + 204, + 245, + 301, + 345 + ], + "red object": [ + 477, + 433, + 566, + 582 + ], + "green ball": [ + 765, + 401, + 903, + 542 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating the approach phase has begun. No contact or grasping has occurred yet as the end-effector remains elevated. The next action is to lower the gripper toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 12 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39544734358787537, + -0.06977901607751846, + 0.10281938314437866, + 2.9826109409332275, + -0.06586180627346039, + -0.26187416911125183 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating the approach phase has begun. No contact or grasping has occurred yet as the end-effector remains elevated. The next action is to lower the gripper toward the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.394589364528656, + -0.09819360077381134, + 0.0957350805401802, + 2.9928691387176514, + -0.05126850679516792, + -0.30778419971466064 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move down 7 cm, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38902923464775085, + -0.11820566654205322, + 0.08727552741765976, + 2.990142583847046, + -0.05152060091495514, + -0.3151908814907074 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 6 cm, keep gripper open; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38010096549987793, + -0.13453589379787445, + 0.07688210904598236, + 2.987351417541504, + -0.04489930346608162, + -0.3123266398906708 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 5 cm, keep gripper open; then keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37332984805107117, + -0.150028258562088, + 0.06965965777635574, + 2.988415241241455, + -0.0379396453499794, + -0.3093494474887848 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, keep gripper open; then keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36708900332450867, + -0.16120317578315735, + 0.06414051353931427, + 2.9892847537994385, + -0.040902771055698395, + -0.31871116161346436 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, keep gripper open; then keep gripper closed; then move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3591923713684082, + -0.1650671362876892, + 0.05477462708950043, + 2.9906957149505615, + -0.023961806669831276, + -0.30264994502067566 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then keep gripper closed; then move forward 1 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.35159236192703247, + -0.16043537855148315, + 0.0376068651676178, + 3.018705368041992, + 0.016315743327140808, + -0.2771810293197632 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "approach cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then keep gripper closed; then move forward 2 cm, move left 5 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34910616278648376, + -0.15741975605487823, + 0.02836703322827816, + 3.036571979522705, + 0.03482301905751228, + -0.26954910159111023 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white ball": [ + 203, + 245, + 301, + 345 + ], + "red object": [ + 477, + 433, + 566, + 583 + ], + "green ball": [ + 764, + 406, + 828, + 497 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating it is in the approach phase. No contact or grasping has occurred yet as the end-effector is hovering over the fabric. The next action is to continue moving the gripper down to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 5 cm, move up 6 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35035377740859985, + -0.15545380115509033, + 0.026423735544085503, + 3.0504255294799805, + 0.02606561966240406, + -0.25491276383399963 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the left edge of the blue cloth and is now positioned to grasp it. The gripper is open and aligned with the cloth corner, indicating readiness for contact. The next action should be to close the gripper to secure the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 5 cm, move up 6 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35057762265205383, + -0.15405194461345673, + 0.024864207953214645, + 3.0583837032318115, + 0.019106457009911537, + -0.25642743706703186 + ], + "gripper_value": 0.6711689233779907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the left edge of the blue cloth and is now positioned to grasp it. The gripper is open and aligned with the cloth corner, indicating readiness for contact. The next action should be to close the gripper to secure the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 5 cm, move up 6 cm, keep gripper closed; then move forward 1 cm, move left 6 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3508383631706238, + -0.15340174734592438, + 0.02343044988811016, + 3.0581698417663574, + 0.01147660706192255, + -0.25360608100891113 + ], + "gripper_value": 0.3754602372646332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "lift and initiate fold", + "subtask_reasoning": "The robot has approached the left edge of the blue cloth and is now positioned to grasp it. The gripper is open and aligned with the cloth corner, indicating readiness for contact. The next action should be to close the gripper to secure the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 6 cm, keep gripper closed; then move forward 1 cm, move left 7 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35036805272102356, + -0.15233385562896729, + 0.0238360483199358, + 3.0594654083251953, + 0.009911907836794853, + -0.2510313093662262 + ], + "gripper_value": 0.16443414986133575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "lift and initiate fold", + "subtask_reasoning": "The robot has approached the left edge of the blue cloth and is now positioned to grasp it. The gripper is open and aligned with the cloth corner, indicating readiness for contact. The next action should be to close the gripper to secure the cloth edge for folding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 6 cm, keep gripper closed; then move left 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.34981077909469604, + -0.14834384620189667, + 0.02300882339477539, + 3.060089349746704, + 0.014351006597280502, + -0.2432221621274948 + ], + "gripper_value": 0.07112513482570648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "lift and initiate fold", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 6 cm, keep gripper closed; then move left 10 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3481805622577667, + -0.144313246011734, + 0.025950133800506592, + 3.048267126083374, + 0.024674654006958008, + -0.24399533867835999 + ], + "gripper_value": 0.05784503370523453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "lift and initiate fold", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 5 cm, keep gripper closed; then move left 10 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35028696060180664, + -0.13710516691207886, + 0.04435283690690994, + 3.043483018875122, + 0.015820959582924843, + -0.24007277190685272 + ], + "gripper_value": 0.057568058371543884 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "lift and initiate fold", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 4 cm, keep gripper closed; then move left 10 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3637048006057739, + -0.12376093119382858, + 0.06622303277254105, + 3.0360445976257324, + -0.027840211987495422, + -0.22059163451194763 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white ball": [ + 204, + 245, + 301, + 344 + ], + "red object": [ + 481, + 436, + 570, + 585 + ], + "blue mat": [ + 163, + 300, + 760, + 903 + ], + "green ball": [ + 821, + 438, + 906, + 542 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "lift and initiate fold", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move left 10 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3748515546321869, + -0.10828161984682083, + 0.08065000921487808, + 3.0150580406188965, + -0.036680709570646286, + -0.21702173352241516 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 8 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.382976233959198, + -0.08590677380561829, + 0.090980663895607, + 3.00991153717041, + -0.03579491004347801, + -0.19543208181858063 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.38579678535461426, + -0.06843449920415878, + 0.09621714800596237, + 3.0043106079101562, + -0.025888659060001373, + -0.1755630373954773 + ], + "gripper_value": 0.05565106123685837 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38460680842399597, + -0.05192501097917557, + 0.10353091359138489, + 3.0015594959259033, + -0.01951008103787899, + -0.15294285118579865 + ], + "gripper_value": 0.05538023263216019 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.384121298789978, + -0.03961079940199852, + 0.12353162467479706, + 2.999676465988159, + -0.058492399752140045, + -0.12162595242261887 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 2 cm, keep gripper closed; then move back 1 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3789074420928955, + -0.025847047567367554, + 0.1351667046546936, + 2.998701810836792, + -0.08313384652137756, + -0.08349759131669998 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "drag cloth across surface", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37262389063835144, + -0.011155369691550732, + 0.13884374499320984, + 2.991025447845459, + -0.0909557044506073, + -0.04441022127866745 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36976441740989685, + 0.01588972844183445, + 0.13580094277858734, + 2.988062620162964, + -0.08608695864677429, + 0.0069222659803926945 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white ball": [ + 205, + 245, + 301, + 344 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has approached and grasped the left edge of the blue cloth, as indicated by the gripper closure and contact. The current subtask involves lifting the cloth to initiate the fold from left to right. The next action should be to lift the grasped edge upward and begin moving it toward the right side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed; then move left 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.368680477142334, + 0.03606290742754936, + 0.1286594420671463, + 2.9783191680908203, + -0.06944752484560013, + 0.044889308512210846 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cloth has been folded from left to right and is now resting on the table. The gripper is open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed; then move left 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.36581337451934814, + 0.055411942303180695, + 0.11659372597932816, + 2.972428321838379, + -0.03488410264253616, + 0.07071302831172943 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cloth has been folded from left to right and is now resting on the table. The gripper is open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, keep gripper closed; then move left 3 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36686497926712036, + 0.07082735002040863, + 0.10615675151348114, + 2.9935264587402344, + -0.010660549625754356, + 0.06616266071796417 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The blue cloth has been folded from left to right and is now resting on the table. The gripper is open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643042743206024, + 0.08262398093938828, + 0.09368037432432175, + 3.026543617248535, + 0.019191334024071693, + 0.028143201023340225 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth has been folded from left to right and is now resting on the table. The gripper is open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.36975952982902527, + 0.09525740891695023, + 0.08457060903310776, + 3.0813324451446533, + 0.021649064496159554, + -0.04747951775789261 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth has been folded from left to right and is now resting on the table. The gripper is open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, open gripper; then move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.37401098012924194, + 0.10462714731693268, + 0.07691813260316849, + 3.121290683746338, + 0.03637136146426201, + -0.12791115045547485 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth has been folded from left to right and is now resting on the table. The gripper is open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 4 cm, open gripper; then move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3743651807308197, + 0.11391675472259521, + 0.07403026521205902, + 3.128481864929199, + 0.04450437054038048, + -0.12167885154485703 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth has been folded from left to right and is now resting on the table. The gripper is open and positioned above the cloth, indicating the release phase is complete. The next action is to retreat the end-effector away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.37149742245674133, + 0.1164369210600853, + 0.05921734869480133, + 3.10495924949646, + 0.08109720796346664, + -0.12113692611455917 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth is partially folded with the left side already placed over the right. The gripper is in contact with the cloth edge, indicating the fold has been positioned. The next action is to press or smooth the folded cloth to complete the adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, open gripper; then move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3705168068408966, + 0.11406459659337997, + 0.05247761681675911, + 3.0903284549713135, + 0.07078190892934799, + -0.13591329753398895 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth is partially folded with the left side already placed over the right. The gripper is in contact with the cloth edge, indicating the fold has been positioned. The next action is to press or smooth the folded cloth to complete the adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, open gripper; then move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3663473427295685, + 0.1127685010433197, + 0.04551438242197037, + 3.086754322052002, + 0.07933463901281357, + -0.13279105722904205 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth is partially folded with the left side already placed over the right. The gripper is in contact with the cloth edge, indicating the fold has been positioned. The next action is to press or smooth the folded cloth to complete the adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3631555438041687, + 0.1116587445139885, + 0.03852877393364906, + 3.089820384979248, + 0.08263418078422546, + -0.1227063536643982 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth is partially folded with the left side already placed over the right. The gripper is in contact with the cloth edge, indicating the fold has been positioned. The next action is to press or smooth the folded cloth to complete the adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601960241794586, + 0.11027559638023376, + 0.032341230660676956, + 3.086944580078125, + 0.08304866403341293, + -0.11972463876008987 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth is partially folded with the left side already placed over the right. The gripper is in contact with the cloth edge, indicating the fold has been positioned. The next action is to press or smooth the folded cloth to complete the adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 32, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.35892361402511597, + 0.10485267639160156, + 0.03347130864858627, + 3.0623931884765625, + 0.05448765680193901, + -0.12075435370206833 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The blue cloth is partially folded with the left side already placed over the right. The gripper is in contact with the cloth edge, indicating the fold has been positioned. The next action is to press or smooth the folded cloth to complete the adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.36057624220848083, + 0.10494024306535721, + 0.050320129841566086, + 3.008011817932129, + -0.026297451928257942, + -0.0862680971622467 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The robot's end-effector is in contact with the top surface of the folded blue cloth, positioned to flatten the crease. The gripper is open, indicating the previous placement action is complete and the robot is now applying downward pressure. The next action involves moving the end-effector across the fold to smooth and secure the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.36014312505722046, + 0.10381263494491577, + 0.0631905049085617, + 2.957188844680786, + -0.09743880480527878, + -0.06547651439905167 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The robot's end-effector is in contact with the top surface of the folded blue cloth, positioned to flatten the crease. The gripper is open, indicating the previous placement action is complete and the robot is now applying downward pressure. The next action involves moving the end-effector across the fold to smooth and secure the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3608236014842987, + 0.10012082755565643, + 0.08070626109838486, + 2.9653804302215576, + -0.12871505320072174, + -0.06436541676521301 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth edge" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "lift and initiate fold" + }, + { + "id": 4, + "subtask": "drag cloth across surface" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "reposition for final adjustment" + }, + { + "id": 7, + "subtask": "press and smooth fold" + } + ], + "subtask_name": "press and smooth fold", + "subtask_reasoning": "The robot's end-effector is in contact with the top surface of the folded blue cloth, positioned to flatten the crease. The gripper is open, indicating the previous placement action is complete and the robot is now applying downward pressure. The next action involves moving the end-effector across the fold to smooth and secure the fabric." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000850_ecot.json b/cot/chunk-0000/episode_0000850_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..43e4a6378ef542bdf8226786a2c2e151c9f7ddd0 --- /dev/null +++ b/cot/chunk-0000/episode_0000850_ecot.json @@ -0,0 +1,2736 @@ +{ + "task_name": "episode_0000850", + "episode_json": "json/chunk-0000/episode_0000850.json", + "video_path": "videos/chunk-0000/image_0/episode_0000850.mp4", + "instruction": "Put the yellow duck in the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000850.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.4214421510696411, + "std": 0.19184516370296478, + "delta_total": 0.0006677508354187012, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42144, std=0.19185, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 11 + ], + [ + 4, + 12, + 24 + ], + [ + 5, + 25, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot area\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the pot region without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"descend to contact object\", \"start\": 4, \"end\": 11, \"planning\": \"Lower end-effector vertically to make contact with the object inside the pot; no grasp yet.\"},\n {\"id\": 3, \"name\": \"grasp and lift object\", \"start\": 12, \"end\": 24, \"planning\": \"Close gripper to securely grasp the object, then lift it clear of the pot based on observed gripper closure and upward motion.\"},\n {\"id\": 4, \"name\": \"transport to drawer location\", \"start\": 25, \"end\": 35, \"planning\": \"Carry the grasped object horizontally toward the target drawer area while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release object and retreat\", \"start\": 36, \"end\": 39, \"planning\": \"Open gripper to release the object into the drawer, then retract end-effector upward to complete placement.\"}\n ],\n \"global_plan\": \"Approach the pot, descend to contact the object, grasp and lift it, transport to drawer, then release and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 4 and 5; grasp wording is justified there. Segments 1–3 show no gripper closure, so contact-based descriptions are used. Frame coverage is contiguous and complete from 0 to 39.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot area", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the pot region without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "descend to contact object", + "start": 4, + "end": 11, + "planning": "Lower end-effector vertically to make contact with the object inside the pot; no grasp yet." + }, + { + "id": 3, + "name": "grasp and lift object", + "start": 12, + "end": 24, + "planning": "Close gripper to securely grasp the object, then lift it clear of the pot based on observed gripper closure and upward motion." + }, + { + "id": 4, + "name": "transport to drawer location", + "start": 25, + "end": 35, + "planning": "Carry the grasped object horizontally toward the target drawer area while maintaining grip." + }, + { + "id": 5, + "name": "release object and retreat", + "start": 36, + "end": 39, + "planning": "Open gripper to release the object into the drawer, then retract end-effector upward to complete placement." + } + ], + "global_plan": "Approach the pot, descend to contact the object, grasp and lift it, transport to drawer, then release and retreat.", + "notes": "Gripper evidence confirms meaningful closing only in segments 4 and 5; grasp wording is justified there. Segments 1–3 show no gripper closure, so contact-based descriptions are used. Frame coverage is contiguous and complete from 0 to 39." + } + }, + "episode_goal": "Place the yellow duck in the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30058979988098145, + 0.09002162516117096, + 0.076534204185009, + -3.106397867202759, + -0.15420493483543396, + 0.5649062991142273 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot is positioned above the stovetop, approaching the pot containing the target object. No objects have been interacted with yet as the gripper remains open. The next action is to continue moving the end-effector closer to the pot to prepare for the grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28942134976387024, + 0.0876477062702179, + 0.06139417737722397, + -3.0884182453155518, + -0.09883889555931091, + 0.5656914710998535 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the pot containing the target object. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm to make contact with the pot or the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865886390209198, + 0.0796540230512619, + 0.059889428317546844, + -3.0774426460266113, + -0.06920235604047775, + 0.5486833453178406 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the pot containing the target object. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm to make contact with the pot or the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move right 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28778988122940063, + 0.05816468223929405, + 0.06015279144048691, + -3.064741849899292, + -0.04737238958477974, + 0.48644790053367615 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach pot area", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the pot containing the target object. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm to make contact with the pot or the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open; then move back 4 cm, move right 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29020053148269653, + 0.03767063841223717, + 0.07170357555150986, + -3.050868034362793, + -0.07932665944099426, + 0.4520905017852783 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the pot containing the target object. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm to make contact with the pot or the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917737066745758, + 0.012186628766357899, + 0.08122451603412628, + -3.0564165115356445, + -0.10965666174888611, + 0.4366547763347626 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 161, + 415, + 387, + 597 + ], + "green apple": [ + 118, + 552, + 206, + 652 + ], + "blue sponge": [ + 457, + 675, + 544, + 801 + ], + "metal pot": [ + 370, + 560, + 628, + 878 + ], + "red pan": [ + 224, + 583, + 324, + 620 + ], + "sink": [ + 737, + 651, + 993, + 992 + ], + "stovetop": [ + 16, + 418, + 700, + 970 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the pot containing the target object. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm to make contact with the pot or the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886108160018921, + -0.0012260428629815578, + 0.08840534836053848, + -3.0739431381225586, + -0.13270683586597443, + 0.43730857968330383 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the pot containing the target object. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm to make contact with the pot or the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2786257863044739, + -0.01776977814733982, + 0.08668041229248047, + -3.085411310195923, + -0.12975947558879852, + 0.4119376242160797 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26567262411117554, + -0.027409425005316734, + 0.07593613862991333, + -3.0904669761657715, + -0.09438631683588028, + 0.3948105275630951 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551659047603607, + -0.03292630612850189, + 0.0664721429347992, + -3.089949131011963, + -0.06498372554779053, + 0.37607520818710327 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25035399198532104, + -0.04058123007416725, + 0.05634596571326256, + -3.090954065322876, + -0.04054684564471245, + 0.355567067861557 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24978408217430115, + -0.04605520889163017, + 0.045875586569309235, + -3.1041252613067627, + -0.02416478469967842, + 0.3448442220687866 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 457, + 675, + 545, + 801 + ], + "green apple": [ + 118, + 552, + 206, + 652 + ], + "blue cloth": [ + 161, + 415, + 385, + 597 + ], + "metal pot": [ + 369, + 577, + 629, + 875 + ], + "sink": [ + 738, + 651, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "descend to contact object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24821120500564575, + -0.04680246114730835, + 0.033791638910770416, + -3.075317859649658, + 0.0032755620777606964, + 0.3230212330818176 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24371781945228577, + -0.051625754684209824, + 0.02726786769926548, + -3.038973808288574, + 0.021618826314806938, + 0.2809814214706421 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24407494068145752, + -0.05205988511443138, + 0.02086978405714035, + -3.03356671333313, + 0.03179902955889702, + 0.268397718667984 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2434370070695877, + -0.05283297970890999, + 0.012543244287371635, + -3.0311923027038574, + 0.04940904304385185, + 0.25795620679855347 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2417847067117691, + -0.05218769237399101, + 0.008778311312198639, + -3.0219249725341797, + 0.06367920339107513, + 0.2559506893157959 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24098417162895203, + -0.05063252151012421, + 0.005842505022883415, + -3.00833797454834, + 0.06856276839971542, + 0.265695184469223 + ], + "gripper_value": 0.9367310404777527 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot is positioned above the pot containing the yellow duck, with the gripper open and descending. The approach phase is complete, and the arm is now moving downward to make contact with the object. The next action is to continue the descent until the gripper touches the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24184657633304596, + -0.04759865999221802, + 0.005686684977263212, + -2.9929051399230957, + 0.05948449671268463, + 0.26946261525154114 + ], + "gripper_value": 0.641040563583374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24289573729038239, + -0.0485202930867672, + 0.005805069115012884, + -2.9972524642944336, + 0.05495518445968628, + 0.2684117257595062 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 8 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2425282597541809, + -0.04784082621335983, + 0.0055908323265612125, + -2.9955811500549316, + 0.0557587631046772, + 0.26890870928764343 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24187925457954407, + -0.047217126935720444, + 0.006589040160179138, + -2.994887113571167, + 0.057955823838710785, + 0.26330700516700745 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2477053850889206, + -0.04483526200056076, + 0.021286653354763985, + -3.015597343444824, + 0.013326695188879967, + 0.2710174322128296 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.24931244552135468, + -0.04218118637800217, + 0.03428281471133232, + -3.0270235538482666, + -0.013788294047117233, + 0.26490575075149536 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move left 10 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26064905524253845, + -0.0323798693716526, + 0.051000647246837616, + -3.048767328262329, + -0.05547398328781128, + 0.2938743829727173 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27744677662849426, + -0.009198605082929134, + 0.06591030210256577, + -3.0680952072143555, + -0.09297965466976166, + 0.3435274362564087 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30355265736579895, + 0.020976319909095764, + 0.08244790881872177, + -3.0900003910064697, + -0.14969110488891602, + 0.39339569211006165 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 368, + 558, + 628, + 880 + ], + "green apple": [ + 118, + 551, + 206, + 652 + ], + "blue sponge": [ + 161, + 416, + 386, + 596 + ], + "sink": [ + 737, + 651, + 993, + 992 + ], + "red pan": [ + 223, + 583, + 325, + 622 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31357479095458984, + 0.05396054685115814, + 0.07709581404924393, + -3.0750200748443604, + -0.15143907070159912, + 0.43944987654685974 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109627962112427, + 0.06818699091672897, + 0.06256772577762604, + -3.0691099166870117, + -0.11674860864877701, + 0.46723371744155884 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30810782313346863, + 0.07231665402650833, + 0.049585625529289246, + -3.0499203205108643, + -0.08088964968919754, + 0.4709745943546295 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot's end-effector is positioned directly above the pot containing the yellow duck, having completed the approach and descent phases. The gripper is currently open and hovering over the target object. The next action is to close the gripper to grasp the duck and then lift it out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076966404914856, + 0.08358791470527649, + 0.04264610633254051, + -3.0414462089538574, + -0.08431589603424072, + 0.4995712637901306 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot is currently positioned over the stovetop, holding the yellow duck above the pot. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to translate the arm towards the drawer to deposit the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3065631687641144, + 0.09205169975757599, + 0.032879944890737534, + -3.045773983001709, + -0.07274625450372696, + 0.5155788064002991 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot is currently positioned over the stovetop, holding the yellow duck above the pot. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to translate the arm towards the drawer to deposit the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30479466915130615, + 0.09025418013334274, + 0.023943811655044556, + -3.046198844909668, + -0.043964933604002, + 0.5082430243492126 + ], + "gripper_value": 0.5988990664482117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot is currently positioned over the stovetop, holding the yellow duck above the pot. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to translate the arm towards the drawer to deposit the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29770568013191223, + 0.08818663656711578, + 0.016268011182546616, + -3.032846689224243, + 0.010472952388226986, + 0.5197147727012634 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot is currently positioned over the stovetop, holding the yellow duck above the pot. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to translate the arm towards the drawer to deposit the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29465824365615845, + 0.09228458255529404, + 0.017220813781023026, + -2.9995431900024414, + 0.008341824635863304, + 0.572648823261261 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot is currently positioned over the stovetop, holding the yellow duck above the pot. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to translate the arm towards the drawer to deposit the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.293671578168869, + 0.09234248846769333, + 0.017314033582806587, + -2.9957306385040283, + 0.012342315167188644, + 0.5800711512565613 + ], + "gripper_value": 1.0193406343460083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "transport to drawer location", + "subtask_reasoning": "The robot is currently positioned over the stovetop, holding the yellow duck above the pot. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to translate the arm towards the drawer to deposit the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29353561997413635, + 0.09153032302856445, + 0.017234256491065025, + -2.999568462371826, + 0.015751909464597702, + 0.5810781121253967 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently positioned over the stovetop, holding the yellow duck above the pot. The gripper signal indicates a stable grasp has been maintained throughout this segment. The next action is to translate the arm towards the drawer to deposit the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3003251254558563, + 0.09160646796226501, + 0.042469240725040436, + -3.0366246700286865, + -0.06152737885713577, + 0.5444777011871338 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot's gripper is open and positioned above the stovetop, with no object currently held. The yellow duck is not visible in the immediate scene, suggesting it may have already been placed or is out of view. The next action should involve retreating from the current position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3002318739891052, + 0.09158401936292648, + 0.07820262759923935, + -3.0650641918182373, + -0.1617448329925537, + 0.520284116268158 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 369, + 558, + 628, + 880 + ], + "green apple": [ + 118, + 552, + 206, + 652 + ], + "sink": [ + 737, + 651, + 993, + 992 + ], + "blue cloth": [ + 159, + 412, + 387, + 597 + ], + "blue sponge": [ + 232, + 456, + 311, + 557 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot's gripper is open and positioned above the stovetop, with no object currently held. The yellow duck is not visible in the immediate scene, suggesting it may have already been placed or is out of view. The next action should involve retreating from the current position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.29788434505462646, + 0.09119094908237457, + 0.09852483868598938, + -3.0773112773895264, + -0.2115558236837387, + 0.5151380300521851 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck in the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot area" + }, + { + "id": 2, + "subtask": "descend to contact object" + }, + { + "id": 3, + "subtask": "grasp and lift object" + }, + { + "id": 4, + "subtask": "transport to drawer location" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot's gripper is open and positioned above the stovetop, with no object currently held. The yellow duck is not visible in the immediate scene, suggesting it may have already been placed or is out of view. The next action should involve retreating from the current position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000851_ecot.json b/cot/chunk-0000/episode_0000851_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc3a29f96b45ef41d551db2da976cb476c38d9e --- /dev/null +++ b/cot/chunk-0000/episode_0000851_ecot.json @@ -0,0 +1,2892 @@ +{ + "task_name": "episode_0000851", + "episode_json": "json/chunk-0000/episode_0000851.json", + "video_path": "videos/chunk-0000/image_0/episode_0000851.mp4", + "instruction": "Unfold cloth from top right to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000851.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.9487631916999817, + "std": 0.3988477885723114, + "delta_total": -0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94876, std=0.39885, total_delta=-0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 11, + 11, + 11, + 16, + 16, + 16, + 16, + 20, + 20, + 20, + 20, + 20, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 139, + 139, + 139 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 15 + ], + [ + 3, + 16, + 19 + ], + [ + 4, + 20, + 24 + ], + [ + 5, + 25, + 38 + ], + [ + 6, + 39, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 10, \"planning\": \"Move gripper toward top-right corner of folded cloth while closing fingers to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift corner\", \"start\": 11, \"end\": 15, \"planning\": \"Secure grip on cloth corner and lift slightly to initiate unfolding motion.\"},\n {\"id\": 3, \"name\": \"pull cloth diagonally\", \"start\": 16, \"end\": 24, \"planning\": \"Drag cloth from top-right toward bottom-left while maintaining grip to unfold it across the table surface.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 25, \"end\": 38, \"planning\": \"Open gripper to release cloth after unfolding, then move away to avoid disturbing the laid-out fabric.\"},\n {\"id\": 5, \"name\": \"reposition for final adjustment\", \"start\": 39, \"end\": 41, \"planning\": \"Move gripper to new position near bottom-left edge in preparation for potential smoothing or alignment if needed.\"}\n ],\n \"global_plan\": \"Unfold cloth by grasping top-right corner, pulling diagonally to bottom-left, releasing, and repositioning for possible final adjustments.\",\n \"notes\": \"Plan follows observed motion segments and gripper behavior: initial approach and grasp (frames 0-15), active unfolding pull (16-24), release and retreat (25-38), and final repositioning (39-41). Gripper closure is confirmed in segments 1, 3, 4; opening in segment 6. No hallucinated lifts or placements beyond what images and motion support.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 10, + "planning": "Move gripper toward top-right corner of folded cloth while closing fingers to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift corner", + "start": 11, + "end": 15, + "planning": "Secure grip on cloth corner and lift slightly to initiate unfolding motion." + }, + { + "id": 3, + "name": "pull cloth diagonally", + "start": 16, + "end": 24, + "planning": "Drag cloth from top-right toward bottom-left while maintaining grip to unfold it across the table surface." + }, + { + "id": 4, + "name": "release and retreat", + "start": 25, + "end": 38, + "planning": "Open gripper to release cloth after unfolding, then move away to avoid disturbing the laid-out fabric." + }, + { + "id": 5, + "name": "reposition for final adjustment", + "start": 39, + "end": 41, + "planning": "Move gripper to new position near bottom-left edge in preparation for potential smoothing or alignment if needed." + } + ], + "global_plan": "Unfold cloth by grasping top-right corner, pulling diagonally to bottom-left, releasing, and repositioning for possible final adjustments.", + "notes": "Plan follows observed motion segments and gripper behavior: initial approach and grasp (frames 0-15), active unfolding pull (16-24), release and retreat (25-38), and final repositioning (39-41). Gripper closure is confirmed in segments 1, 3, 4; opening in segment 6. No hallucinated lifts or placements beyond what images and motion support." + } + }, + "episode_goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.45333626866340637, + -0.019318899139761925, + 0.20594976842403412, + 2.593886613845825, + -0.35681504011154175, + 0.44028955698013306 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. No prior actions have been taken. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to make contact with the cloth corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 9 cm, tilt left 20 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4549541473388672, + -0.018487142398953438, + 0.18645945191383362, + 2.6191163063049316, + -0.3162166178226471, + 0.43397095799446106 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. No prior actions have been taken. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to make contact with the cloth corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 7 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.45412787795066833, + -0.020572761073708534, + 0.16471558809280396, + 2.761439323425293, + -0.30502453446388245, + 0.4035451114177704 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. No prior actions have been taken. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to make contact with the cloth corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4544111490249634, + -0.03020314686000347, + 0.1469944417476654, + 2.8591504096984863, + -0.2930000424385071, + 0.369521826505661 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. No prior actions have been taken. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to make contact with the cloth corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.46056967973709106, + -0.022990824654698372, + 0.14187219738960266, + 2.9290287494659424, + -0.31435975432395935, + 0.3728024959564209 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. No prior actions have been taken. The gripper is open and approaching the top-right corner of the cloth. The next action should be to move the gripper closer to make contact with the cloth corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4643617868423462, + -0.04186525568366051, + 0.1329188346862793, + 3.004779815673828, + -0.3195621967315674, + 0.3159026801586151 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 700, + 550, + 831, + 883 + ], + "blue cloth": [ + 362, + 161, + 725, + 701 + ], + "table": [ + 5, + 59, + 995, + 994 + ], + "white cup": [ + 727, + 370, + 863, + 501 + ], + "computer tower": [ + 548, + 10, + 799, + 275 + ], + "blue pom - pom": [ + 692, + 448, + 816, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4649325907230377, + -0.04540793225169182, + 0.1321677267551422, + 3.012086868286133, + -0.32257628440856934, + 0.310479074716568 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4681762158870697, + -0.042957987636327744, + 0.11908072978258133, + 3.0276196002960205, + -0.3040318191051483, + 0.31645768880844116 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.46948835253715515, + -0.04314066469669342, + 0.12028439342975616, + 3.030895471572876, + -0.3071064054965973, + 0.3149769902229309 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.46999073028564453, + -0.042752478271722794, + 0.12045055627822876, + 3.031548023223877, + -0.3108002543449402, + 0.3172704875469208 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4704926311969757, + -0.04236558824777603, + 0.12061943858861923, + 3.034166097640991, + -0.31516292691230774, + 0.3131403923034668 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.46937787532806396, + -0.042038146406412125, + 0.11840721219778061, + 3.0386927127838135, + -0.3103004992008209, + 0.31007570028305054 + ], + "gripper_value": 0.4937349259853363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.46840500831604004, + -0.04195156693458557, + 0.11589221656322479, + 3.0415585041046143, + -0.30637550354003906, + 0.3061647415161133 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 699, + 550, + 831, + 884 + ], + "blue pom - pom": [ + 693, + 448, + 815, + 575 + ], + "table": [ + 5, + 59, + 995, + 993 + ], + "blue cloth": [ + 362, + 160, + 726, + 702 + ], + "white cup": [ + 727, + 370, + 864, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth folded at the top right. The gripper is open and approaching the top-right corner of the cloth. No contact or grasp has occurred yet. The next action is to lower the gripper and make contact with the cloth corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4674891531467438, + -0.04164784401655197, + 0.11304961889982224, + 3.0460126399993896, + -0.3014703094959259, + 0.3030799925327301 + ], + "gripper_value": 0.18403103947639465 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-right corner of the folded blue cloth and is now in contact with it. The gripper is closing (value 0.184), indicating an active grasp attempt on the cloth corner. The next action is to secure the grip and lift the corner to begin unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.46746546030044556, + -0.04186524078249931, + 0.10800359398126602, + 3.0493903160095215, + -0.29113301634788513, + 0.30085229873657227 + ], + "gripper_value": 0.2148229479789734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-right corner of the folded blue cloth and is now in contact with it. The gripper is closing (value 0.184), indicating an active grasp attempt on the cloth corner. The next action is to secure the grip and lift the corner to begin unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4675804078578949, + -0.04297763109207153, + 0.1073288545012474, + 3.0430030822753906, + -0.288475900888443, + 0.3008553385734558 + ], + "gripper_value": 0.475652277469635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "grasp and lift corner", + "subtask_reasoning": "The robot has approached the top-right corner of the folded blue cloth and is now in contact with it. The gripper is closing (value 0.184), indicating an active grasp attempt on the cloth corner. The next action is to secure the grip and lift the corner to begin unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4669007956981659, + -0.045168861746788025, + 0.10787925869226456, + 3.034778118133545, + -0.28341397643089294, + 0.2988983988761902 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot has approached the top-right corner of the folded blue cloth and is now in contact with it. The gripper is closing (value 0.184), indicating an active grasp attempt on the cloth corner. The next action is to secure the grip and lift the corner to begin unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.46692603826522827, + -0.044888269156217575, + 0.1078752726316452, + 3.0323092937469482, + -0.2824022173881531, + 0.30011194944381714 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot has approached the top-right corner of the folded blue cloth and is now in contact with it. The gripper is closing (value 0.184), indicating an active grasp attempt on the cloth corner. The next action is to secure the grip and lift the corner to begin unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.46642428636550903, + -0.0457792803645134, + 0.10739008337259293, + 3.0327162742614746, + -0.2775740623474121, + 0.29872429370880127 + ], + "gripper_value": 0.6189444065093994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot has approached the top-right corner of the folded blue cloth and is now in contact with it. The gripper is closing (value 0.184), indicating an active grasp attempt on the cloth corner. The next action is to secure the grip and lift the corner to begin unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 8 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.46595439314842224, + -0.0450093075633049, + 0.10150289535522461, + 3.0388829708099365, + -0.26343223452568054, + 0.2986289858818054 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot has approached the top-right corner of the folded blue cloth and is now in contact with it. The gripper is closing (value 0.184), indicating an active grasp attempt on the cloth corner. The next action is to secure the grip and lift the corner to begin unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4649357497692108, + -0.04512786120176315, + 0.09836716949939728, + 3.0423455238342285, + -0.25153014063835144, + 0.29803043603897095 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 12 cm, move left 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4643822908401489, + -0.04595942050218582, + 0.0982367992401123, + 3.0378143787384033, + -0.24636046588420868, + 0.3001726269721985 + ], + "gripper_value": 0.1004381775856018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed; then move back 13 cm, move left 11 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4638727903366089, + -0.04879402369260788, + 0.09820538759231567, + 3.023861885070801, + -0.2392672449350357, + 0.29054969549179077 + ], + "gripper_value": 0.05619491636753082 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 13 cm, move left 12 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.46477463841438293, + -0.05779717490077019, + 0.0998932272195816, + 2.962134838104248, + -0.23489125072956085, + 0.28641581535339355 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 13 cm, move left 14 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4579300284385681, + -0.04894222691655159, + 0.13036252558231354, + 2.8530266284942627, + -0.29165664315223694, + 0.3398720622062683 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 700, + 550, + 831, + 883 + ], + "blue pom - pom": [ + 694, + 448, + 815, + 576 + ], + "table": [ + 4, + 59, + 995, + 994 + ], + "white cup": [ + 731, + 370, + 863, + 501 + ], + "blue cloth": [ + 399, + 157, + 737, + 703 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "pull cloth diagonally", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper closed; then move back 14 cm, move left 14 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.44248244166374207, + -0.037754662334918976, + 0.15262740850448608, + 2.7579116821289062, + -0.32286128401756287, + 0.3985857665538788 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 15 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4251279830932617, + -0.02884015254676342, + 0.15697389841079712, + 2.6914234161376953, + -0.30806592106819153, + 0.4207189977169037 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 14 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3948950171470642, + -0.012519803829491138, + 0.15624696016311646, + 2.6748011112213135, + -0.29253649711608887, + 0.41272419691085815 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 14 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36691752076148987, + 0.006047660019248724, + 0.15052300691604614, + 2.686844825744629, + -0.28957027196884155, + 0.38244736194610596 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406868577003479, + 0.03183024376630783, + 0.15054656565189362, + 2.6942851543426514, + -0.2949713468551636, + 0.3683817684650421 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 699, + 550, + 831, + 883 + ], + "blue cloth": [ + 405, + 186, + 736, + 748 + ], + "table": [ + 5, + 77, + 995, + 992 + ], + "white cup": [ + 728, + 370, + 863, + 501 + ], + "blue pom - pom": [ + 693, + 448, + 815, + 575 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3259841501712799, + 0.052444130182266235, + 0.1503475159406662, + 2.677556276321411, + -0.2786512076854706, + 0.36731716990470886 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the top-right corner of the blue cloth, having completed the grasp and lift. The cloth is partially unfolded but not yet extended toward the bottom-left. The next action is to pull the cloth diagonally across the table to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31631413102149963, + 0.07241994142532349, + 0.15022271871566772, + 2.6854054927825928, + -0.2720491886138916, + 0.35741788148880005 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3146938681602478, + 0.08654074370861053, + 0.14710786938667297, + 2.6957855224609375, + -0.23785553872585297, + 0.3282185196876526 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.313214510679245, + 0.09781402349472046, + 0.15409207344055176, + 2.6865875720977783, + -0.21166084706783295, + 0.3343813419342041 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 699, + 551, + 831, + 883 + ], + "blue cloth": [ + 230, + 173, + 737, + 749 + ], + "blue pom - pom": [ + 693, + 448, + 815, + 576 + ], + "table": [ + 4, + 58, + 995, + 992 + ], + "white cup": [ + 728, + 369, + 863, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064921498298645, + 0.10496124625205994, + 0.15554144978523254, + 2.685957193374634, + -0.17197783291339874, + 0.34446069598197937 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2987113296985626, + 0.10770881921052933, + 0.15393441915512085, + 2.697765827178955, + -0.13523808121681213, + 0.33690837025642395 + ], + "gripper_value": 0.05271430313587189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29318511486053467, + 0.1148751899600029, + 0.15318739414215088, + 2.7048075199127197, + -0.1201867088675499, + 0.3528416156768799 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2905495762825012, + 0.12627935409545898, + 0.15517809987068176, + 2.7261714935302734, + -0.12332754582166672, + 0.36108168959617615 + ], + "gripper_value": 0.22235295176506042 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888277769088745, + 0.1313219666481018, + 0.15217699110507965, + 2.7490599155426025, + -0.11021587997674942, + 0.36535826325416565 + ], + "gripper_value": 0.47944000363349915 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28769564628601074, + 0.13886749744415283, + 0.1547192484140396, + 2.762464761734009, + -0.10874225199222565, + 0.40435007214546204 + ], + "gripper_value": 0.7662391662597656 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The robot has successfully pulled the blue cloth diagonally and is currently holding the corner above the table. The gripper is closed, maintaining contact with the fabric to keep it extended. The next action is to open the gripper to release the cloth onto the table surface and then retreat the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.28814697265625, + 0.14396856725215912, + 0.1583305150270462, + 2.7650909423828125, + -0.10980959236621857, + 0.4433250427246094 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth is mostly unfolded on the table, with the robot's gripper open and positioned above the top-right corner. Previous steps have successfully pulled and released the cloth. The next action is to reposition the gripper for a final adjustment, likely to smooth or align the cloth further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 39, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992641031742096, + 0.12767452001571655, + 0.1602969467639923, + 2.7449777126312256, + -0.11107546091079712, + 0.44025787711143494 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the blue cloth from its folded state at the top right to a flat position extending toward the bottom left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp and lift corner" + }, + { + "id": 3, + "subtask": "pull cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "reposition for final adjustment" + } + ], + "subtask_name": "reposition for final adjustment", + "subtask_reasoning": "The blue cloth is mostly unfolded on the table, with the robot's gripper open and positioned above the top-right corner. Previous steps have successfully pulled and released the cloth. The next action is to reposition the gripper for a final adjustment, likely to smooth or align the cloth further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000852_ecot.json b/cot/chunk-0000/episode_0000852_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bb684f2ee480d6028d35e9aabcfbddb905e2208e --- /dev/null +++ b/cot/chunk-0000/episode_0000852_ecot.json @@ -0,0 +1,1284 @@ +{ + "task_name": "episode_0000852", + "episode_json": "json/chunk-0000/episode_0000852.json", + "video_path": "videos/chunk-0000/image_0/episode_0000852.mp4", + "instruction": "Turn faucet left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000852.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006645917892456055, + "std": 0.0002658367156982422, + "delta_total": 0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00027, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 7 + ], + [ + 3, + 8, + 14 + ], + [ + 4, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach faucet handle\", \"start\": 0, \"end\": 1, \"planning\": \"Move end-effector toward the faucet handle from initial position.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 2, \"end\": 7, \"planning\": \"Position gripper to establish stable contact with the faucet handle without grasping.\"},\n {\"id\": 3, \"name\": \"rotate handle left\", \"start\": 8, \"end\": 14, \"planning\": \"Apply rotational force to turn the faucet handle counter-clockwise while maintaining contact.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 15, \"end\": 19, \"planning\": \"Break contact with the handle and move end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Turn faucet left by approaching, making contact, rotating the handle counter-clockwise, then retreating — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes meaningfully; all actions are contact-based pushes/rotations. Segment boundaries preserved for natural motion phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach faucet handle", + "start": 0, + "end": 1, + "planning": "Move end-effector toward the faucet handle from initial position." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 2, + "end": 7, + "planning": "Position gripper to establish stable contact with the faucet handle without grasping." + }, + { + "id": 3, + "name": "rotate handle left", + "start": 8, + "end": 14, + "planning": "Apply rotational force to turn the faucet handle counter-clockwise while maintaining contact." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 15, + "end": 19, + "planning": "Break contact with the handle and move end-effector away to complete the task." + } + ], + "global_plan": "Turn faucet left by approaching, making contact, rotating the handle counter-clockwise, then retreating — all without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes meaningfully; all actions are contact-based pushes/rotations. Segment boundaries preserved for natural motion phases." + } + }, + "episode_goal": "Turn the faucet handle to the left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3740096986293793, + -0.025286974385380745, + 0.0898449718952179, + -2.863619089126587, + 0.18692825734615326, + 0.2184326946735382 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the faucet handle with the gripper open, initiating the approach phase. No contact has been made yet, and the arm is moving toward the handle to prepare for rotation. The next action is to continue closing the distance to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 4 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 1 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.353961706161499, + -0.028109481558203697, + 0.04966878145933151, + -3.0060875415802, + 0.24898673593997955, + 0.14190758764743805 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach faucet handle", + "subtask_reasoning": "The robot is positioned near the faucet handle with the gripper open, initiating the approach phase. No contact has been made yet, and the arm is moving toward the handle to prepare for rotation. The next action is to continue closing the distance to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, tilt right 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move up 1 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317544758319855, + -0.008104760199785233, + 0.048056088387966156, + 2.992103338241577, + 0.1941448152065277, + 0.09312091767787933 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the faucet handle with the gripper open, initiating the approach phase. No contact has been made yet, and the arm is moving toward the handle to prepare for rotation. The next action is to continue closing the distance to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3089979887008667, + 0.003339409362524748, + 0.033384669572114944, + 2.8927741050720215, + 0.21264521777629852, + 0.02123725786805153 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the faucet handle with the gripper open, initiating the approach phase. No contact has been made yet, and the arm is moving toward the handle to prepare for rotation. The next action is to continue closing the distance to the handle while maintaining an open gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 2 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 6 cm, move up 3 cm, tilt left 30 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3015381395816803, + 2.1419966287794523e-05, + 0.0399952158331871, + 2.8936405181884766, + 0.1748020350933075, + -0.0156328734010458 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector aligned for contact. No grasping has occurred as the gripper remains fully open. The next action is to make physical contact with the handle to begin rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 2 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 12 cm, move up 8 cm, tilt left 40 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29819411039352417, + -0.002293518278747797, + 0.037892576307058334, + 2.907888889312744, + 0.18633052706718445, + -0.037432119250297546 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector aligned for contact. No grasping has occurred as the gripper remains fully open. The next action is to make physical contact with the handle to begin rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 2 cm, tilt right 30 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 13 cm, move up 9 cm, tilt left 60 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998093068599701, + -0.007576431147754192, + 0.04236459359526634, + 2.8568270206451416, + 0.2182500958442688, + -0.04202018678188324 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector aligned for contact. No grasping has occurred as the gripper remains fully open. The next action is to make physical contact with the handle to begin rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 1 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 13 cm, move up 9 cm, tilt left 60 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30959343910217285, + -0.004803898278623819, + 0.04661598801612854, + 2.689974784851074, + 0.3609181046485901, + 0.051649536937475204 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector aligned for contact. No grasping has occurred as the gripper remains fully open. The next action is to make physical contact with the handle to begin rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 1 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 13 cm, move up 9 cm, tilt left 60 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33887678384780884, + 0.024792801588773727, + 0.056111302226781845, + 2.4216175079345703, + 0.5160592198371887, + 0.20911942422389984 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowls": [ + 17, + 814, + 353, + 994 + ], + "soap dispenser": [ + 332, + 204, + 592, + 633 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "rotate handle left", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector aligned for contact. No grasping has occurred as the gripper remains fully open. The next action is to make physical contact with the handle to begin rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 13 cm, move up 9 cm, tilt left 60 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524632751941681, + 0.04670162871479988, + 0.0674084797501564, + 2.3224050998687744, + 0.5211102962493896, + 0.2407502979040146 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "rotate handle left", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector aligned for contact. No grasping has occurred as the gripper remains fully open. The next action is to make physical contact with the handle to begin rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move up 8 cm, tilt left 70 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3526420295238495, + 0.0322701595723629, + 0.06699612736701965, + 2.315835952758789, + 0.5357266664505005, + 0.1912733018398285 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "rotate handle left", + "subtask_reasoning": "The robot has approached the faucet handle and is now in close proximity, with the end-effector aligned for contact. No grasping has occurred as the gripper remains fully open. The next action is to make physical contact with the handle to begin rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 14 cm, move up 8 cm, tilt left 70 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415641784667969, + 0.024709774181246758, + 0.05231202021241188, + 2.3310537338256836, + 0.5971777439117432, + 0.1921449601650238 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "rotate handle left", + "subtask_reasoning": "The robot end-effector is in contact with the faucet handle, having completed the approach and initial contact phases. The gripper remains open throughout, indicating no grasping action. The next step is to rotate the handle counter-clockwise to turn the faucet left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, move up 9 cm, tilt left 70 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32445600628852844, + 0.010502477176487446, + 0.05071832239627838, + 2.5640757083892822, + 0.7040669322013855, + 0.21153885126113892 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "rotate handle left", + "subtask_reasoning": "The robot end-effector is in contact with the faucet handle, having completed the approach and initial contact phases. The gripper remains open throughout, indicating no grasping action. The next step is to rotate the handle counter-clockwise to turn the faucet left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move up 9 cm, tilt left 50 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.340885192155838, + -0.03307284042239189, + 0.08929567784070969, + 2.852562665939331, + 0.6099756956100464, + 0.1487230509519577 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "rotate handle left", + "subtask_reasoning": "The robot end-effector is in contact with the faucet handle, having completed the approach and initial contact phases. The gripper remains open throughout, indicating no grasping action. The next step is to rotate the handle counter-clockwise to turn the faucet left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 6 cm, tilt left 40 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35680460929870605, + -0.0938493087887764, + 0.13607490062713623, + 3.1045541763305664, + 0.42845985293388367, + -0.03350141644477844 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "rotate handle left", + "subtask_reasoning": "The robot end-effector is in contact with the faucet handle, having completed the approach and initial contact phases. The gripper remains open throughout, indicating no grasping action. The next step is to rotate the handle counter-clockwise to turn the faucet left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.365001380443573, + -0.10355528444051743, + 0.14510127902030945, + -2.9249095916748047, + 0.3208094835281372, + -0.043257392942905426 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot end-effector is in contact with the faucet handle, having completed the approach and initial contact phases. The gripper remains open throughout, indicating no grasping action. The next step is to rotate the handle counter-clockwise to turn the faucet left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726208508014679, + -0.09741269052028656, + 0.13527247309684753, + -2.8290514945983887, + 0.28734779357910156, + -0.005069735925644636 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 1, + 403, + 168, + 854 + ] + } + } + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot end-effector is in contact with the faucet handle, having completed the approach and initial contact phases. The gripper remains open throughout, indicating no grasping action. The next step is to rotate the handle counter-clockwise to turn the faucet left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.37239670753479004, + -0.09819353371858597, + 0.13522349298000336, + -2.8305630683898926, + 0.2878502607345581, + -0.00703008659183979 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has completed contact with the faucet handle and is now in the retreat phase, moving away from the handle without grasping it. The gripper remains open throughout, consistent with non-grasp manipulation. The next action is to continue retreating to a safe distance while maintaining orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726915419101715, + -0.09804261475801468, + 0.13518819212913513, + -2.8295633792877197, + 0.2859329581260681, + -0.007079928647726774 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has completed contact with the faucet handle and is now in the retreat phase, moving away from the handle without grasping it. The gripper remains open throughout, consistent with non-grasp manipulation. The next action is to continue retreating to a safe distance while maintaining orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37239670753479004, + -0.09819353371858597, + 0.13522349298000336, + -2.8305630683898926, + 0.2878502607345581, + -0.00703008659183979 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the faucet handle to the left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach faucet handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "rotate handle left" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The robot has completed contact with the faucet handle and is now in the retreat phase, moving away from the handle without grasping it. The gripper remains open throughout, consistent with non-grasp manipulation. The next action is to continue retreating to a safe distance while maintaining orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000853_ecot.json b/cot/chunk-0000/episode_0000853_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4a2cd7b212bcdeb6467cd76a7b7cdc0b14a554d9 --- /dev/null +++ b/cot/chunk-0000/episode_0000853_ecot.json @@ -0,0 +1,2183 @@ +{ + "task_name": "episode_0000853", + "episode_json": "json/chunk-0000/episode_0000853.json", + "video_path": "videos/chunk-0000/image_0/episode_0000853.mp4", + "instruction": "Put stuffedduck in pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000853.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.7383348941802979, + "std": 0.3212844729423523, + "delta_total": 0.007812023162841797, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.73833, std=0.32128, total_delta=0.00781). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 30, + 30, + 30, + 30, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 5 + ], + [ + 3, + 6, + 18 + ], + [ + 4, + 19, + 29 + ], + [ + 5, + 30, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach duck\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the stuffed duck on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"reposition for grasp\", \"start\": 6, \"end\": 18, \"planning\": \"Adjust pose and alignment near the duck in preparation for grasping, based on motion clustering indicating a distinct phase.\"},\n {\"id\": 3, \"name\": \"grasp and lift duck\", \"start\": 19, \"end\": 29, \"planning\": \"Close gripper to grasp the duck and lift it upward, as confirmed by gripper closure and visual evidence of duck being held.\"},\n {\"id\": 4, \"name\": \"place duck in pan\", \"start\": 30, \"end\": 34, \"planning\": \"Open gripper to release the duck into the pan, with gripper opening confirmed by signal increase and final image showing duck resting in pan.\"}\n ],\n \"global_plan\": \"Approach the stuffed duck, reposition for stable grasp, grasp and lift it, then place it into the pan.\",\n \"notes\": \"Segment 3 (frames 6-18) lacks explicit gripper or image data but is retained as a distinct motion phase per proprio-clustering; described neutrally as repositioning. Gripper evidence in segments 4 and 5 supports grasp and release actions respectively, consistent with images.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach duck", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the stuffed duck on the stovetop without grasping." + }, + { + "id": 2, + "name": "reposition for grasp", + "start": 6, + "end": 18, + "planning": "Adjust pose and alignment near the duck in preparation for grasping, based on motion clustering indicating a distinct phase." + }, + { + "id": 3, + "name": "grasp and lift duck", + "start": 19, + "end": 29, + "planning": "Close gripper to grasp the duck and lift it upward, as confirmed by gripper closure and visual evidence of duck being held." + }, + { + "id": 4, + "name": "place duck in pan", + "start": 30, + "end": 34, + "planning": "Open gripper to release the duck into the pan, with gripper opening confirmed by signal increase and final image showing duck resting in pan." + } + ], + "global_plan": "Approach the stuffed duck, reposition for stable grasp, grasp and lift it, then place it into the pan.", + "notes": "Segment 3 (frames 6-18) lacks explicit gripper or image data but is retained as a distinct motion phase per proprio-clustering; described neutrally as repositioning. Gripper evidence in segments 4 and 5 supports grasp and release actions respectively, consistent with images." + } + }, + "episode_goal": "Place the stuffed duck into the metal pan on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955968379974365, + -0.08452629297971725, + 0.14773398637771606, + -3.0333330631256104, + -0.14962784945964813, + -0.05560753867030144 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "approach duck", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left side of the stovetop. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 5 cm, keep gripper open; then move back 1 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2937658131122589, + -0.08263961225748062, + 0.1387093961238861, + -3.022815465927124, + -0.12158455699682236, + -0.059336524456739426 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "approach duck", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left side of the stovetop. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move down 4 cm, keep gripper open; then move back 1 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2982035279273987, + -0.06076148897409439, + 0.1299835592508316, + -3.020197629928589, + -0.12071497738361359, + -0.08897940814495087 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "approach duck", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 3 cm, keep gripper open; then move back 2 cm, move left 9 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017096519470215, + -0.03493890538811684, + 0.12100360542535782, + -3.025800943374634, + -0.11726141721010208, + -0.11431890726089478 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "approach duck", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, keep gripper open; then move back 2 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29912811517715454, + -0.01463458314538002, + 0.11104687303304672, + -3.036449670791626, + -0.12292040139436722, + -0.12888284027576447 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "approach duck", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 10 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955155670642853, + 0.0021652737632393837, + 0.10946731269359589, + -3.0339620113372803, + -0.15024524927139282, + -0.1326504647731781 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "approach duck", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 10 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.287259578704834, + 0.020030641928315163, + 0.09515940397977829, + -3.0341930389404297, + -0.15149079263210297, + -0.1360483169555664 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2811134457588196, + 0.04165787994861603, + 0.08772062510251999, + -3.0247700214385986, + -0.19832828640937805, + -0.14516381919384003 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "rubber duck": [ + 237, + 342, + 396, + 541 + ] + } + } + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2787473499774933, + 0.05935629457235336, + 0.08176150172948837, + -3.001230001449585, + -0.22347261011600494, + -0.158465176820755 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "rubber duck": [ + 236, + 342, + 396, + 541 + ] + } + } + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27952876687049866, + 0.07362481206655502, + 0.08144620060920715, + -2.9711782932281494, + -0.24774475395679474, + -0.1791418492794037 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27774253487586975, + 0.08587644249200821, + 0.08489137887954712, + -2.943126678466797, + -0.26970645785331726, + -0.18678539991378784 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 6 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727857828140259, + 0.09607565402984619, + 0.0796799510717392, + -2.9323172569274902, + -0.27707013487815857, + -0.20165613293647766 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the stove with the stuffed duck visible on the left burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the duck to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, close gripper; then move right 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26673954725265503, + 0.10671123117208481, + 0.0726146474480629, + -2.924668550491333, + -0.2989163100719452, + -0.21795032918453217 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, close gripper; then move right 2 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632116675376892, + 0.11392167955636978, + 0.06798643618822098, + -2.910405397415161, + -0.32224610447883606, + -0.22911740839481354 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 3 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26125141978263855, + 0.11869492381811142, + 0.058737993240356445, + -2.906047821044922, + -0.33923739194869995, + -0.23634716868400574 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 4 cm, move right 5 cm, move up 11 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25897282361984253, + 0.1199815645813942, + 0.046050798147916794, + -2.9140231609344482, + -0.34061098098754883, + -0.23312214016914368 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move right 5 cm, move up 11 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2598583996295929, + 0.12028785049915314, + 0.03678501397371292, + -2.9103636741638184, + -0.34550726413726807, + -0.22972795367240906 + ], + "gripper_value": 0.9844722747802734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 8 cm, move right 6 cm, move up 12 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26158106327056885, + 0.12056964635848999, + 0.028035681694746017, + -2.908586263656616, + -0.331246018409729, + -0.22885896265506744 + ], + "gripper_value": 0.8879486322402954 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 9 cm, move right 6 cm, move up 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26246219873428345, + 0.114799365401268, + 0.02793256938457489, + -2.916696310043335, + -0.2689453661441803, + -0.20760460197925568 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 10 cm, move right 6 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2613595426082611, + 0.10963473469018936, + 0.029323194175958633, + -2.9153966903686523, + -0.21404500305652618, + -0.20207101106643677 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move up 10 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25801318883895874, + 0.10501797497272491, + 0.03435540199279785, + -2.9095757007598877, + -0.1558554470539093, + -0.197238951921463 + ], + "gripper_value": 0.33397963643074036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 6 cm, move up 9 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.25701841711997986, + 0.0983412116765976, + 0.05900854244828224, + -2.888827323913574, + -0.11769096553325653, + -0.1849019080400467 + ], + "gripper_value": 0.2965938150882721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 5 cm, move up 6 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646413743495941, + 0.08793018758296967, + 0.09411367028951645, + -2.857668399810791, + -0.08351651579141617, + -0.18453039228916168 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "rubber duck": [ + 200, + 295, + 346, + 446 + ], + "pot": [ + 382, + 127, + 594, + 358 + ] + } + } + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move up 3 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785484194755554, + 0.07662846148014069, + 0.12812566757202148, + -2.829563856124878, + -0.05945682153105736, + -0.18985144793987274 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has approached the stuffed duck and is now repositioning its end-effector above it for a stable grasp. The gripper remains open, indicating no contact yet. The next action is to align the gripper precisely over the duck before closing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move down 1 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3010750412940979, + 0.06252987682819366, + 0.14328120648860931, + -2.819239616394043, + -0.07775186747312546, + -0.21121741831302643 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 2 cm, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.325386643409729, + 0.05491049960255623, + 0.14419114589691162, + -2.8262479305267334, + -0.08671092242002487, + -0.2368997037410736 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34583088755607605, + 0.05322042480111122, + 0.14584876596927643, + -2.8300652503967285, + -0.08325076848268509, + -0.25569331645965576 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558484613895416, + 0.0523059107363224, + 0.14454329013824463, + -2.8298747539520264, + -0.0824672132730484, + -0.2654145359992981 + ], + "gripper_value": 0.27738428115844727 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "rubber duck": [ + 383, + 6, + 576, + 150 + ], + "pot": [ + 376, + 138, + 592, + 359 + ] + } + } + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36165177822113037, + 0.05030657351016998, + 0.139590322971344, + -2.8367209434509277, + -0.1061987429857254, + -0.26968422532081604 + ], + "gripper_value": 0.27666032314300537 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613990545272827, + 0.048596788197755814, + 0.1336537003517151, + -2.8489456176757812, + -0.11826834827661514, + -0.2661195993423462 + ], + "gripper_value": 0.316539466381073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "grasp and lift duck", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3569851815700531, + 0.04529193788766861, + 0.12132919579744339, + -2.8755815029144287, + -0.12380532175302505, + -0.2499292641878128 + ], + "gripper_value": 0.6199479699134827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "place duck in pan", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3561308979988098, + 0.04320612549781799, + 0.11945003271102905, + -2.8802855014801025, + -0.11910434812307358, + -0.25155118107795715 + ], + "gripper_value": 0.931966245174408 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "place duck in pan", + "subtask_reasoning": "The robot has successfully grasped the stuffed duck and is currently holding it above the metal pan on the stove. The gripper is closed around the duck, indicating a stable grasp. The next action is to lower the duck into the pan to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524154722690582, + 0.03988806530833244, + 0.12163089215755463, + -2.8870444297790527, + -0.08964857459068298, + -0.24777430295944214 + ], + "gripper_value": 1.0149952173233032 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "place duck in pan", + "subtask_reasoning": "The robot is holding the stuffed duck above the metal pan on the stove, with gripper closed and positioned for release. The duck has been lifted and transported successfully; the next action is to open the gripper to drop the duck into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.35395610332489014, + 0.03480726107954979, + 0.12959852814674377, + -2.879007577896118, + -0.08340240269899368, + -0.24486473202705383 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "place duck in pan", + "subtask_reasoning": "The robot is holding the stuffed duck above the metal pan on the stove, with gripper closed and positioned for release. The duck has been lifted and transported successfully; the next action is to open the gripper to drop the duck into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.35270875692367554, + 0.026973530650138855, + 0.13250085711479187, + -2.8766026496887207, + -0.06987282633781433, + -0.24593773484230042 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the stuffed duck into the metal pan on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach duck" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift duck" + }, + { + "id": 4, + "subtask": "place duck in pan" + } + ], + "subtask_name": "place duck in pan", + "subtask_reasoning": "The robot is holding the stuffed duck above the metal pan on the stove, with gripper closed and positioned for release. The duck has been lifted and transported successfully; the next action is to open the gripper to drop the duck into the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000855_ecot.json b/cot/chunk-0000/episode_0000855_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..39c36fdf2b9ae9c9e231725d52dddf4f28298fbc --- /dev/null +++ b/cot/chunk-0000/episode_0000855_ecot.json @@ -0,0 +1,3179 @@ +{ + "task_name": "episode_0000855", + "episode_json": "json/chunk-0000/episode_0000855.json", + "video_path": "videos/chunk-0000/image_0/episode_0000855.mp4", + "instruction": "Unfold the cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000855.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9342865347862244, + "std": 0.4042034149169922, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93429, std=0.40420, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 12, + 12, + 12, + 12, + 16, + 16, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 36, + 36, + 36, + 36, + 36, + 236, + 236, + 236, + 236 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 11 + ], + [ + 4, + 12, + 15 + ], + [ + 5, + 16, + 17 + ], + [ + 6, + 18, + 35 + ], + [ + 7, + 36, + 40 + ], + [ + 8, + 41, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the folded cloth on the table without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and close gripper\", \"start\": 4, \"end\": 11, \"planning\": \"Lower gripper to contact cloth and begin closing to secure a corner.\"},\n {\"id\": 3, \"name\": \"lift and reposition cloth\", \"start\": 12, \"end\": 17, \"planning\": \"Lift the gripped corner slightly and adjust position to prepare for unfolding.\"},\n {\"id\": 4, \"name\": \"drag and unfold cloth\", \"start\": 18, \"end\": 35, \"planning\": \"Pull the cloth across the table while maintaining grip to spread it out.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 36, \"end\": 40, \"planning\": \"Open gripper to release cloth and move end-effector away from the unfolded cloth.\"},\n {\"id\": 6, \"name\": \"final adjustment hover\", \"start\": 41, \"end\": 44, \"planning\": \"Hover above the cloth to confirm full unfolding without further contact.\"}\n ],\n \"global_plan\": \"Unfold the cloth by approaching, gripping a corner, lifting and dragging it across the table to spread it out, then releasing and retreating.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 3, 6; segments 1 and 8 show no meaningful closing so contact-based terms are used. Frame ranges are contiguous and cover all 45 frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the folded cloth on the table without grasping." + }, + { + "id": 2, + "name": "make contact and close gripper", + "start": 4, + "end": 11, + "planning": "Lower gripper to contact cloth and begin closing to secure a corner." + }, + { + "id": 3, + "name": "lift and reposition cloth", + "start": 12, + "end": 17, + "planning": "Lift the gripped corner slightly and adjust position to prepare for unfolding." + }, + { + "id": 4, + "name": "drag and unfold cloth", + "start": 18, + "end": 35, + "planning": "Pull the cloth across the table while maintaining grip to spread it out." + }, + { + "id": 5, + "name": "release and retreat", + "start": 36, + "end": 40, + "planning": "Open gripper to release cloth and move end-effector away from the unfolded cloth." + }, + { + "id": 6, + "name": "final adjustment hover", + "start": 41, + "end": 44, + "planning": "Hover above the cloth to confirm full unfolding without further contact." + } + ], + "global_plan": "Unfold the cloth by approaching, gripping a corner, lifting and dragging it across the table to spread it out, then releasing and retreating.", + "notes": "Gripper evidence supports grasp only in segments 3, 6; segments 1 and 8 show no meaningful closing so contact-based terms are used. Frame ranges are contiguous and cover all 45 frames." + } + }, + "episode_goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2668342590332031, + -0.057392410933971405, + 0.06049378961324692, + 3.1372973918914795, + -0.08523273468017578, + 0.32872554659843445 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded cloth on the table with its gripper open. No actions have been completed yet as this is the initial approach phase. The robot needs to move closer to a corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628139853477478, + -0.05662807077169418, + 0.05280504375696182, + -3.1318981647491455, + -0.06000802665948868, + 0.3377099633216858 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires approaching a corner of the cloth. The next action should be to move the gripper closer to a corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 2 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24245890974998474, + -0.06318461894989014, + 0.05025417357683182, + -3.130389928817749, + -0.06499520689249039, + 0.41379648447036743 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires approaching a corner of the cloth. The next action should be to move the gripper closer to a corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22142718732357025, + -0.07184938341379166, + 0.05846665799617767, + -3.131711959838867, + -0.1447320133447647, + 0.4674806594848633 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires approaching a corner of the cloth. The next action should be to move the gripper closer to a corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move forward 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20229709148406982, + -0.07545644044876099, + 0.06084045395255089, + 3.116762638092041, + -0.1522016078233719, + 0.5325166583061218 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot is positioned above the folded cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires approaching a corner of the cloth. The next action should be to move the gripper closer to a corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18940629065036774, + -0.06948148459196091, + 0.044563304632902145, + 3.0780763626098633, + -0.124545156955719, + 0.5772593021392822 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 121, + 372, + 778, + 901 + ], + "white table": [ + 3, + 3, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot is positioned above the folded cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires approaching a corner of the cloth. The next action should be to move the gripper closer to a corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, close gripper; then open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1896650195121765, + -0.06316249817609787, + 0.03513433039188385, + 3.016300916671753, + -0.11475329846143723, + 0.59529709815979 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot is positioned above the folded cloth on the table, with the gripper open and ready. No contact has been made yet, and the subtask requires approaching a corner of the cloth. The next action should be to move the gripper closer to a corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 3 cm, close gripper; then move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19448702037334442, + -0.05846766382455826, + 0.02636129781603813, + 3.008399724960327, + -0.09492911398410797, + 0.5852077603340149 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot arm is positioned directly over a corner of the folded blue cloth with the gripper open and aligned for grasping. The approach phase is complete, and the end-effector is in contact or near-contact with the fabric. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 2 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20533497631549835, + -0.05378909781575203, + 0.0198831669986248, + 3.006324052810669, + -0.08346274495124817, + 0.5565583109855652 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot arm is positioned directly over a corner of the folded blue cloth with the gripper open and aligned for grasping. The approach phase is complete, and the end-effector is in contact or near-contact with the fabric. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move right 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21248532831668854, + -0.04906917363405228, + 0.011463758535683155, + 2.9896137714385986, + -0.06829486787319183, + 0.5426684021949768 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 123, + 353, + 778, + 878 + ], + "white table": [ + 3, + 3, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot arm is positioned directly over a corner of the folded blue cloth with the gripper open and aligned for grasping. The approach phase is complete, and the end-effector is in contact or near-contact with the fabric. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21792611479759216, + -0.04763644561171532, + 0.007302992977201939, + 2.9608724117279053, + -0.07674116641283035, + 0.5580757856369019 + ], + "gripper_value": 0.9206693768501282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot arm is positioned directly over a corner of the folded blue cloth with the gripper open and aligned for grasping. The approach phase is complete, and the end-effector is in contact or near-contact with the fabric. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move right 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2228287160396576, + -0.04409109428524971, + 0.004528549034148455, + 2.937356472015381, + -0.08564119786024094, + 0.5629609823226929 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "make contact and close gripper", + "subtask_reasoning": "The robot arm is positioned directly over a corner of the folded blue cloth with the gripper open and aligned for grasping. The approach phase is complete, and the end-effector is in contact or near-contact with the fabric. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22387175261974335, + -0.04282013699412346, + 0.0037827850319445133, + 2.937574625015259, + -0.08668435364961624, + 0.5548363327980042 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot arm is positioned directly over a corner of the folded blue cloth with the gripper open and aligned for grasping. The approach phase is complete, and the end-effector is in contact or near-contact with the fabric. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22631782293319702, + -0.04196147993206978, + 0.004893813282251358, + 2.9449126720428467, + -0.10094659775495529, + 0.5377948880195618 + ], + "gripper_value": 0.3494465947151184 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot arm is positioned directly over a corner of the folded blue cloth with the gripper open and aligned for grasping. The approach phase is complete, and the end-effector is in contact or near-contact with the fabric. The next action is to close the gripper to secure the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22769314050674438, + -0.04361000657081604, + 0.005690860562026501, + 2.9629409313201904, + -0.10742582380771637, + 0.526626467704773 + ], + "gripper_value": 0.3026532232761383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, close gripper; then move forward 4 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22733087837696075, + -0.04645982384681702, + 0.0064223939552903175, + 2.9848906993865967, + -0.10704369843006134, + 0.5278315544128418 + ], + "gripper_value": 0.3228223919868469 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, close gripper; then move forward 8 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22721394896507263, + -0.047945793718099594, + 0.007312850095331669, + 2.9946680068969727, + -0.10399936139583588, + 0.5213257074356079 + ], + "gripper_value": 0.6309936046600342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 13 cm, move left 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22400392591953278, + -0.04941205680370331, + 0.00837831199169159, + 3.016261339187622, + -0.1014646366238594, + 0.5215069055557251 + ], + "gripper_value": 0.778810441493988 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "lift and reposition cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 17 cm, move left 8 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22169126570224762, + -0.05236470699310303, + 0.012828482314944267, + 3.0328829288482666, + -0.12545554339885712, + 0.518277108669281 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 10 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21985343098640442, + -0.0511777326464653, + 0.013006893917918205, + 3.0327744483947754, + -0.13628549873828888, + 0.5250557661056519 + ], + "gripper_value": 0.2716236412525177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 12 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2174724042415619, + -0.052007172256708145, + 0.013811266981065273, + 3.0396323204040527, + -0.13974659144878387, + 0.53166264295578 + ], + "gripper_value": 0.14090201258659363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 14 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21546128392219543, + -0.05199301615357399, + 0.015752574428915977, + 3.052358388900757, + -0.14084702730178833, + 0.5337040424346924 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 14 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2149808704853058, + -0.05398554727435112, + 0.02345631644129753, + 3.0623788833618164, + -0.15413223206996918, + 0.5278322696685791 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 15 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23224923014640808, + -0.05770602822303772, + 0.046350352466106415, + 3.0343949794769287, + -0.21661047637462616, + 0.5412625074386597 + ], + "gripper_value": 0.07788556814193726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 16 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2659952640533447, + -0.04701005294919014, + 0.059542037546634674, + 2.9887514114379883, + -0.2407694160938263, + 0.5155074596405029 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move left 15 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064252734184265, + -0.031098004430532455, + 0.06723207235336304, + 2.9806339740753174, + -0.28402218222618103, + 0.4478900730609894 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 167, + 329, + 846, + 860 + ], + "white table": [ + 4, + 6, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot has successfully grasped a corner of the folded cloth, as indicated by the gripper closure and contact. The current state shows the gripper holding the cloth near the table surface. The next action is to lift the gripper vertically to begin unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 13 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524841368198395, + 0.0002762436051853001, + 0.0649796575307846, + 2.9738097190856934, + -0.33976107835769653, + 0.40540823340415955 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 10 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3912019431591034, + 0.031281545758247375, + 0.056054774671792984, + 2.9618406295776367, + -0.339288592338562, + 0.35190075635910034 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 192, + 306, + 854, + 852 + ], + "white table": [ + 4, + 4, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move down 3 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4118354022502899, + 0.05064963549375534, + 0.0611623078584671, + 2.976991891860962, + -0.36032551527023315, + 0.3441621959209442 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 3 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.41461992263793945, + 0.07003560662269592, + 0.0625603124499321, + 2.970203161239624, + -0.38041502237319946, + 0.37917444109916687 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 3 cm, open gripper; then move forward 3 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.40480637550354004, + 0.08443580567836761, + 0.05015043169260025, + 2.9406654834747314, + -0.37637677788734436, + 0.4452145993709564 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 3 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.40363094210624695, + 0.09285560250282288, + 0.0458187460899353, + 2.9035966396331787, + -0.39283624291419983, + 0.48346608877182007 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4063170254230499, + 0.09989108145236969, + 0.02663322165608406, + 2.883626937866211, + -0.3692282736301422, + 0.4993266463279724 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.42406031489372253, + 0.10315050184726715, + 0.022010894492268562, + 2.8845136165618896, + -0.38983023166656494, + 0.45223620533943176 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 8 cm, move right 2 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4426712393760681, + 0.10577357560396194, + 0.02039007842540741, + 2.9136204719543457, + -0.3810296654701233, + 0.38830018043518066 + ], + "gripper_value": 0.10473939776420593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.458202600479126, + 0.10362734645605087, + 0.023340409621596336, + 2.9732139110565186, + -0.3633563816547394, + 0.31170716881752014 + ], + "gripper_value": 0.2817513048648834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "drag and unfold cloth", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4646841883659363, + 0.0982498824596405, + 0.02935420349240303, + 3.0243871212005615, + -0.3312748670578003, + 0.28877171874046326 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4662987291812897, + 0.09085241705179214, + 0.03928843140602112, + 3.0665769577026367, + -0.29938188195228577, + 0.29759854078292847 + ], + "gripper_value": 0.8571589589118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding a corner of the blue cloth with its gripper closed, as indicated by the low gripper value and segment evidence. The cloth is partially lifted but not yet fully spread flat on the table. The next action involves dragging the gripper horizontally across the surface to pull the cloth open and flatten it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open; then move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.47624671459198, + 0.09208980202674866, + 0.052091822028160095, + 3.0827934741973877, + -0.30930978059768677, + 0.29355281591415405 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is mostly unfolded on the table with the gripper positioned above it, having just released the corner. The gripper is open and retreating slightly, indicating completion of the release phase. Next, the robot should continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open; then move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.4909963011741638, + 0.0927223488688469, + 0.05673804134130478, + 3.0789027214050293, + -0.3300272226333618, + 0.2683022618293762 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is mostly unfolded on the table with the gripper positioned above it, having just released the corner. The gripper is open and retreating slightly, indicating completion of the release phase. Next, the robot should continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4907853305339813, + 0.08626566082239151, + 0.060331303626298904, + 3.099971055984497, + -0.31542840600013733, + 0.2578062117099762 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth is mostly unfolded on the table with the gripper positioned above it, having just released the corner. The gripper is open and retreating slightly, indicating completion of the release phase. Next, the robot should continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.48085564374923706, + 0.06899028271436691, + 0.057443540543317795, + -3.134432792663574, + -0.2659688889980316, + 0.22825686633586884 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The cloth is mostly unfolded on the table with the gripper positioned above it, having just released the corner. The gripper is open and retreating slightly, indicating completion of the release phase. Next, the robot should continue retreating to a safe distance to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.4503822922706604, + 0.05766432732343674, + 0.07722684741020203, + -3.088275909423828, + -0.20767433941364288, + 0.22757986187934875 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The cloth is mostly unfolded on the table with the gripper hovering above a corner. The gripper is open and not in contact, indicating the release phase is complete. The next action is to retreat or finalize the task as the cloth is sufficiently spread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.4006573557853699, + 0.04709671810269356, + 0.09403249621391296, + -3.0523743629455566, + -0.219173863530159, + 0.3007161319255829 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The cloth is mostly unfolded on the table with the gripper hovering above a corner. The gripper is open and not in contact, indicating the release phase is complete. The next action is to retreat or finalize the task as the cloth is sufficiently spread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3518672287464142, + 0.03560854122042656, + 0.09981316328048706, + -3.089954137802124, + -0.2789258658885956, + 0.3866502344608307 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 3, + 4, + 996, + 995 + ], + "blue cloth": [ + 216, + 198, + 857, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Grasp one corner of the folded cloth, lift and pull it to unfold the cloth flat on the table, then release." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition cloth" + }, + { + "id": 4, + "subtask": "drag and unfold cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + }, + { + "id": 6, + "subtask": "final adjustment hover" + } + ], + "subtask_name": "final adjustment hover", + "subtask_reasoning": "The cloth is mostly unfolded on the table with the gripper hovering above a corner. The gripper is open and not in contact, indicating the release phase is complete. The next action is to retreat or finalize the task as the cloth is sufficiently spread." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000856_ecot.json b/cot/chunk-0000/episode_0000856_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..cd2e2f70f482a1647bed6f2e22bf16315d76d0e7 --- /dev/null +++ b/cot/chunk-0000/episode_0000856_ecot.json @@ -0,0 +1,2094 @@ +{ + "task_name": "episode_0000856", + "episode_json": "json/chunk-0000/episode_0000856.json", + "video_path": "videos/chunk-0000/image_0/episode_0000856.mp4", + "instruction": "Fold the cloth from right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000856.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.953586757183075, + "std": 0.4171276092529297, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95359, std=0.41713, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 214, + 214, + 214, + 226, + 226, + 226, + 226, + 226 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 13 + ], + [ + 3, + 14, + 19 + ], + [ + 4, + 20, + 25 + ], + [ + 5, + 26, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach right edge of cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move gripper toward the right side of the yellow cloth without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and grasp right edge\", \"start\": 6, \"end\": 13, \"planning\": \"Close gripper to securely grasp the right edge of the cloth as evidenced by decreasing gripper value and stable position.\"},\n {\"id\": 3, \"name\": \"lift and fold cloth from right\", \"start\": 14, \"end\": 19, \"planning\": \"Lift the grasped right edge upward and inward to initiate folding motion over the cloth body.\"},\n {\"id\": 4, \"name\": \"reposition gripper for release\", \"start\": 20, \"end\": 25, \"planning\": \"Adjust gripper pose while maintaining hold, positioning folded edge for controlled release onto cloth surface.\"},\n {\"id\": 5, \"name\": \"release folded edge and retreat\", \"start\": 26, \"end\": 30, \"planning\": \"Open gripper to release the folded edge, then retract slightly to complete the fold from the right side.\"}\n ],\n \"global_plan\": \"Fold the cloth from the right by approaching, grasping the right edge, lifting and folding it inward, repositioning for placement, then releasing and retreating.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach only. Segment 2 shows meaningful closure — grasp is justified. Segments 3–5 involve lifting, repositioning, and releasing with corresponding gripper state changes consistent with manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach right edge of cloth", + "start": 0, + "end": 5, + "planning": "Move gripper toward the right side of the yellow cloth without closing, preparing for contact." + }, + { + "id": 2, + "name": "make contact and grasp right edge", + "start": 6, + "end": 13, + "planning": "Close gripper to securely grasp the right edge of the cloth as evidenced by decreasing gripper value and stable position." + }, + { + "id": 3, + "name": "lift and fold cloth from right", + "start": 14, + "end": 19, + "planning": "Lift the grasped right edge upward and inward to initiate folding motion over the cloth body." + }, + { + "id": 4, + "name": "reposition gripper for release", + "start": 20, + "end": 25, + "planning": "Adjust gripper pose while maintaining hold, positioning folded edge for controlled release onto cloth surface." + }, + { + "id": 5, + "name": "release folded edge and retreat", + "start": 26, + "end": 30, + "planning": "Open gripper to release the folded edge, then retract slightly to complete the fold from the right side." + } + ], + "global_plan": "Fold the cloth from the right by approaching, grasping the right edge, lifting and folding it inward, repositioning for placement, then releasing and retreating.", + "notes": "Segment 1 shows no gripper closure — described as approach only. Segment 2 shows meaningful closure — grasp is justified. Segments 3–5 involve lifting, repositioning, and releasing with corresponding gripper state changes consistent with manipulation phases." + } + }, + "episode_goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22395221889019012, + 0.17826910316944122, + 0.05364423245191574, + -2.9868521690368652, + -0.09370682388544083, + 0.38428351283073425 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move towards the right edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22211433947086334, + 0.17711614072322845, + 0.04575898125767708, + -2.9915413856506348, + -0.0697346106171608, + 0.3845948576927185 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial frame. The gripper is open and the robot needs to move towards the right edge of the cloth to begin the folding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22624246776103973, + 0.18313442170619965, + 0.044273678213357925, + -2.9682517051696777, + -0.08881856501102448, + 0.3693799078464508 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the right edge of the cloth. The next action should continue approaching the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2410682737827301, + 0.1918312907218933, + 0.04290388897061348, + -2.9589695930480957, + -0.07837361842393875, + 0.3521510362625122 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the right edge of the cloth. The next action should continue approaching the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2715741693973541, + 0.19366519153118134, + 0.04349256306886673, + -2.9620048999786377, + -0.11614832282066345, + 0.27969905734062195 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the right edge of the cloth. The next action should continue approaching the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31827521324157715, + 0.19377587735652924, + 0.039745815098285675, + -2.9769794940948486, + -0.10990243405103683, + 0.14904683828353882 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 21, + 241, + 706, + 929 + ], + "white table": [ + 4, + 3, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "approach right edge of cloth", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the right edge of the cloth. The next action should continue approaching the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3532443046569824, + 0.19427302479743958, + 0.03958645835518837, + -2.9682109355926514, + -0.1005530059337616, + 0.053235217928886414 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the right edge of the cloth. The next action should continue approaching the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38099008798599243, + 0.19712340831756592, + 0.04066065326333046, + -2.953871488571167, + -0.10688045620918274, + -0.0013486932730302215 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 20, + 244, + 706, + 929 + ], + "white table": [ + 3, + 3, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the right edge of the cloth. The next action should continue approaching the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3944392204284668, + 0.20079955458641052, + 0.038439977914094925, + -2.9465863704681396, + -0.09704478830099106, + -0.03012642078101635 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot is positioned above the table with the yellow cloth visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm is moving toward the right edge of the cloth. The next action should continue approaching the right edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4017595946788788, + 0.2043169140815735, + 0.028818979859352112, + -2.9535837173461914, + -0.07330776751041412, + -0.048332538455724716 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth and is now positioned above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish contact and grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 4 cm, move right 3 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4076713025569916, + 0.20720505714416504, + 0.021636702120304108, + -2.9611361026763916, + -0.05290794000029564, + -0.05730045959353447 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth and is now positioned above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish contact and grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 7 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41181260347366333, + 0.20658592879772186, + 0.018783528357744217, + -2.971914529800415, + -0.05107028782367706, + -0.06869352608919144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth and is now positioned above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish contact and grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41145452857017517, + 0.205447718501091, + 0.015591572038829327, + -2.9917991161346436, + -0.05277552828192711, + -0.07073251903057098 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth and is now positioned above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish contact and grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 7 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41057687997817993, + 0.20357702672481537, + 0.013556642457842827, + -3.001164436340332, + -0.054468076676130295, + -0.0661139115691185 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "make contact and grasp right edge", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth and is now positioned above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish contact and grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 8 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.40829551219940186, + 0.20259447395801544, + 0.011921340599656105, + -3.006802797317505, + -0.043776076287031174, + -0.0636887326836586 + ], + "gripper_value": 0.3875128924846649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "lift and fold cloth from right", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth and is now positioned above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish contact and grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 9 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4010046720504761, + 0.19900107383728027, + 0.010455208830535412, + -3.0143444538116455, + -0.02310340106487274, + -0.06915870308876038 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "lift and fold cloth from right", + "subtask_reasoning": "The robot has approached the right edge of the yellow cloth and is now positioned above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish contact and grasp the right edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 10 cm, move right 7 cm, move down 5 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39178407192230225, + 0.19408060610294342, + 0.009279455058276653, + -3.0210344791412354, + -0.019522638991475105, + -0.07092640548944473 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "lift and fold cloth from right", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38780784606933594, + 0.19383898377418518, + 0.012813904322683811, + -2.9990010261535645, + -0.04214339703321457, + -0.06749342381954193 + ], + "gripper_value": 0.05430474132299423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "lift and fold cloth from right", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 11 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3847392797470093, + 0.1944326013326645, + 0.036677878350019455, + -2.9346237182617188, + -0.1147223487496376, + -0.06556836515665054 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "lift and fold cloth from right", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move back 11 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 2 cm, move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.37028348445892334, + 0.1774497628211975, + 0.0668245479464531, + -2.871567487716675, + -0.19167406857013702, + -0.06589045375585556 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "lift and fold cloth from right", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, keep gripper closed; then move back 11 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428921401500702, + 0.14334294199943542, + 0.06785345822572708, + -2.8854901790618896, + -0.20069459080696106, + -0.047515206038951874 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "reposition gripper for release", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088582754135132, + 0.11702847480773926, + 0.051825474947690964, + -2.9492084980010986, + -0.18366190791130066, + -0.018736299127340317 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "reposition gripper for release", + "subtask_reasoning": "The robot has grasped the right edge of the yellow cloth and is currently lifting it upward. The cloth is partially raised, indicating the folding motion is in progress. The next action should continue lifting and moving the cloth leftward to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move back 2 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2764773368835449, + 0.10024543106555939, + 0.02629876881837845, + -2.99332594871521, + -0.16488343477249146, + -0.002437346149235964 + ], + "gripper_value": 0.05377154052257538 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 4, + 4, + 996, + 995 + ], + "yellow cloth": [ + 13, + 329, + 690, + 926 + ] + } + } + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "reposition gripper for release", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which has been lifted and partially folded over to the left. The gripper is positioned above the cloth, indicating readiness to release. The next action is to open the gripper to place the folded edge onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.258442759513855, + 0.08831029385328293, + 0.01639888621866703, + -3.0093841552734375, + -0.15799477696418762, + 0.013325225561857224 + ], + "gripper_value": 0.07397755235433578 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 8, + 337, + 686, + 942 + ], + "white table": [ + 4, + 3, + 996, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "reposition gripper for release", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which has been lifted and partially folded over to the left. The gripper is positioned above the cloth, indicating readiness to release. The next action is to open the gripper to place the folded edge onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2512541711330414, + 0.0836874321103096, + 0.01477762870490551, + -3.0246598720550537, + -0.14146728813648224, + 0.024373766034841537 + ], + "gripper_value": 0.22108687460422516 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "reposition gripper for release", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which has been lifted and partially folded over to the left. The gripper is positioned above the cloth, indicating readiness to release. The next action is to open the gripper to place the folded edge onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24504141509532928, + 0.07420751452445984, + 0.021092858165502548, + -3.052300453186035, + -0.1434629112482071, + 0.026771817356348038 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "reposition gripper for release", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which has been lifted and partially folded over to the left. The gripper is positioned above the cloth, indicating readiness to release. The next action is to open the gripper to place the folded edge onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23243620991706848, + 0.06285131722688675, + 0.02324388362467289, + -3.0898168087005615, + -0.11869406700134277, + 0.05408167093992233 + ], + "gripper_value": 0.7855378985404968 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "release folded edge and retreat", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which has been lifted and partially folded over to the left. The gripper is positioned above the cloth, indicating readiness to release. The next action is to open the gripper to place the folded edge onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2220885008573532, + 0.051050152629613876, + 0.027417795732617378, + 3.1348185539245605, + -0.09601756185293198, + 0.08677060902118683 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "release folded edge and retreat", + "subtask_reasoning": "The robot is holding the right edge of the yellow cloth, which has been lifted and partially folded over to the left. The gripper is positioned above the cloth, indicating readiness to release. The next action is to open the gripper to place the folded edge onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21226800978183746, + 0.029734287410974503, + 0.028064601123332977, + 3.1402783393859863, + -0.09230676293373108, + 0.08476859331130981 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "release folded edge and retreat", + "subtask_reasoning": "The right edge of the yellow cloth has been folded over to the left and is now resting on the surface. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21138225495815277, + 0.03178504854440689, + 0.03361749276518822, + -3.0270440578460693, + -0.06625405699014664, + 0.03406347706913948 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "release folded edge and retreat", + "subtask_reasoning": "The right edge of the yellow cloth has been folded over to the left and is now resting on the surface. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.21344807744026184, + 0.03280801698565483, + 0.03819757327437401, + -2.9685487747192383, + -0.08285237848758698, + 0.020507626235485077 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the right side of the yellow cloth over to the left, aligning the right edge with the left edge of the cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach right edge of cloth" + }, + { + "id": 2, + "subtask": "make contact and grasp right edge" + }, + { + "id": 3, + "subtask": "lift and fold cloth from right" + }, + { + "id": 4, + "subtask": "reposition gripper for release" + }, + { + "id": 5, + "subtask": "release folded edge and retreat" + } + ], + "subtask_name": "release folded edge and retreat", + "subtask_reasoning": "The right edge of the yellow cloth has been folded over to the left and is now resting on the surface. The gripper is open and positioned above the cloth, indicating the release action is complete. The next step is to retreat the arm away from the cloth to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000859_ecot.json b/cot/chunk-0000/episode_0000859_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..655c47d9bfea511268eca7e4e06faa71951212f3 --- /dev/null +++ b/cot/chunk-0000/episode_0000859_ecot.json @@ -0,0 +1,2307 @@ +{ + "task_name": "episode_0000859", + "episode_json": "json/chunk-0000/episode_0000859.json", + "video_path": "videos/chunk-0000/image_0/episode_0000859.mp4", + "instruction": "Move the blue cloth into the lower of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000859.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.9483642578125, + "std": 0.3786715865135193, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94836, std=0.37867, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 105, + 105, + 105, + 105, + 105, + 5, + 5, + 5, + 5, + 5, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 205, + 232, + 232, + 232, + 232 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 14 + ], + [ + 4, + 15, + 31 + ], + [ + 5, + 32, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move gripper toward the blue cloth while beginning to close fingers in preparation for contact.\"},\n {\"id\": 2, \"name\": \"grasp cloth\", \"start\": 5, \"end\": 9, \"planning\": \"Close gripper fully around the blue cloth and establish secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"drag cloth to burner\", \"start\": 10, \"end\": 31, \"planning\": \"Drag the held blue cloth across the table toward the lower burner area, maintaining grip throughout motion.\"},\n {\"id\": 4, \"name\": \"release cloth on burner\", \"start\": 32, \"end\": 35, \"planning\": \"Open gripper to release the blue cloth onto the lower burner surface and retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Approach and grasp the blue cloth, drag it to the lower burner, then release it precisely on target.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 1–2 (grasp phase) and opening in segment 5 (release). Segment 4 shows sustained low gripper value consistent with holding during transport. Frame visuals support cloth being dragged and released at destination.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move gripper toward the blue cloth while beginning to close fingers in preparation for contact." + }, + { + "id": 2, + "name": "grasp cloth", + "start": 5, + "end": 9, + "planning": "Close gripper fully around the blue cloth and establish secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "drag cloth to burner", + "start": 10, + "end": 31, + "planning": "Drag the held blue cloth across the table toward the lower burner area, maintaining grip throughout motion." + }, + { + "id": 4, + "name": "release cloth on burner", + "start": 32, + "end": 35, + "planning": "Open gripper to release the blue cloth onto the lower burner surface and retreat slightly to complete placement." + } + ], + "global_plan": "Approach and grasp the blue cloth, drag it to the lower burner, then release it precisely on target.", + "notes": "Gripper evidence confirms meaningful closing in segments 1–2 (grasp phase) and opening in segment 5 (release). Segment 4 shows sustained low gripper value consistent with holding during transport. Frame visuals support cloth being dragged and released at destination." + } + }, + "episode_goal": "Move the blue cloth into the lower of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183189332485199, + 0.14514385163784027, + 0.06550697237253189, + 3.045408248901367, + -0.2087012678384781, + 0.3360263705253601 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the workspace with the blue cloth visible on the left side of the table. The gripper is currently open and approaching the cloth, with no contact made yet. The next action should be to lower the gripper and close it to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 3 cm, close gripper; then move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31258800625801086, + 0.142303004860878, + 0.052352894097566605, + 3.0398972034454346, + -0.16455167531967163, + 0.33604252338409424 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the workspace with the blue cloth visible on the left side of the table. The gripper is currently open and approaching the cloth, with no contact made yet. The next action should be to lower the gripper and close it to grasp the blue cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 2 cm, close gripper; then move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2930557429790497, + 0.13397327065467834, + 0.042923178523778915, + 3.0648043155670166, + -0.12060744315385818, + 0.2863735258579254 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal": [ + 750, + 470, + 961, + 788 + ], + "blue cloth": [ + 106, + 264, + 520, + 611 + ], + "table": [ + 4, + 15, + 995, + 993 + ], + "sponge": [ + 551, + 334, + 643, + 461 + ], + "metal bowl": [ + 532, + 287, + 752, + 533 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed; then move back 3 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813453674316406, + 0.12313393503427505, + 0.03999057784676552, + 3.0817105770111084, + -0.11418036371469498, + 0.23436930775642395 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed; then move back 5 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.278044193983078, + 0.11463364213705063, + 0.03287149965763092, + 3.0681402683258057, + -0.11237965524196625, + 0.2201234996318817 + ], + "gripper_value": 0.7031799554824829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move left 1 cm, move down 2 cm, keep gripper closed; then move back 7 cm, move left 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28468963503837585, + 0.1129675805568695, + 0.03330327570438385, + 3.0806283950805664, + -0.1406206488609314, + 0.26235029101371765 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move back 9 cm, move right 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2893587648868561, + 0.11273076385259628, + 0.03396520018577576, + 3.102091073989868, + -0.16291725635528564, + 0.2581760883331299 + ], + "gripper_value": 0.1795559972524643 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to lower the gripper and close it to securely grasp the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move back 8 cm, move right 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29173892736434937, + 0.11358483880758286, + 0.03002239391207695, + 3.120124340057373, + -0.17753320932388306, + 0.2576315999031067 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move back 8 cm, move right 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29021382331848145, + 0.11402226984500885, + 0.013342903926968575, + 3.1331005096435547, + -0.1772223860025406, + 0.28261518478393555 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 8 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915908992290497, + 0.11513417214155197, + 0.011382563970983028, + 3.134073257446289, + -0.17723844945430756, + 0.2795998454093933 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "grasp cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 8 cm, move right 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28827086091041565, + 0.12299574166536331, + 0.010643653571605682, + -3.125013589859009, + -0.16345468163490295, + 0.26600515842437744 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27690988779067993, + 0.1258353739976883, + 0.008167318068444729, + -3.102678060531616, + -0.1471610814332962, + 0.22161543369293213 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25581520795822144, + 0.13284698128700256, + 0.008303167298436165, + -3.0943987369537354, + -0.12034407258033752, + 0.16942653059959412 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 13 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23366467654705048, + 0.13457706570625305, + 0.00894991122186184, + -3.106257438659668, + -0.08666826039552689, + 0.1254313588142395 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal": [ + 749, + 470, + 961, + 791 + ], + "table": [ + 4, + 14, + 995, + 994 + ], + "metal bowl": [ + 530, + 277, + 751, + 533 + ], + "blue cloth": [ + 32, + 313, + 471, + 686 + ], + "sponge": [ + 550, + 334, + 643, + 462 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21678759157657623, + 0.13212591409683228, + 0.011097697541117668, + -3.139061689376831, + -0.05423317104578018, + 0.08633945137262344 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 15 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20203839242458344, + 0.11721909046173096, + 0.01084567978978157, + 3.113325357437134, + -0.046769313514232635, + 0.025604259222745895 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20641076564788818, + 0.10407491028308868, + 0.010660814121365547, + 3.0763702392578125, + -0.08036303520202637, + 0.09578505158424377 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 13 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2118392288684845, + 0.09078765660524368, + 0.009674979373812675, + 3.0679264068603516, + -0.09029223769903183, + 0.1173209547996521 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21263661980628967, + 0.07204398512840271, + 0.009380047209560871, + 3.0507373809814453, + -0.11809360980987549, + 0.133665069937706 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21006539463996887, + 0.05251732096076012, + 0.009435608983039856, + 3.0358450412750244, + -0.08995705842971802, + 0.1230204850435257 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open and ready. The gripper signal shows a significant closing trend within this segment, indicating the grasp action is underway. The next immediate step is to complete the closure of the gripper to securely hold the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20686987042427063, + 0.033616531640291214, + 0.009648376144468784, + 3.0271050930023193, + -0.061420831829309464, + 0.11732923984527588 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2075764238834381, + 0.018797436729073524, + 0.00960717536509037, + 3.0341622829437256, + -0.041994739323854446, + 0.12798942625522614 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2087445706129074, + 0.004005154129117727, + 0.00862833857536316, + 3.0361151695251465, + -0.044116225093603134, + 0.12874886393547058 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.21179671585559845, + -0.009714673273265362, + 0.009521326050162315, + 3.0434203147888184, + -0.05082784965634346, + 0.1313047856092453 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper; then move forward 2 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2160397171974182, + -0.019793380051851273, + 0.011994930915534496, + 3.0457472801208496, + -0.05960465967655182, + 0.130366712808609 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 192, + 469, + 696, + 991 + ], + "metal": [ + 750, + 471, + 961, + 789 + ], + "metal bowl": [ + 534, + 280, + 751, + 531 + ], + "sponge": [ + 551, + 334, + 643, + 460 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper; then move forward 5 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21872279047966003, + -0.025852471590042114, + 0.012061752378940582, + 3.046207904815674, + -0.06006154790520668, + 0.12967230379581451 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper; then move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22124482691287994, + -0.028980592265725136, + 0.013519985601305962, + 3.035665273666382, + -0.06538780778646469, + 0.1377764493227005 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 5 cm, open gripper; then move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.21820414066314697, + -0.02958529442548752, + 0.013827823102474213, + 3.0358641147613525, + -0.043598782271146774, + 0.1237485334277153 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move up 5 cm, rotate clockwise 10 degrees, open gripper; then move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22707109153270721, + -0.026714975014328957, + 0.024780968204140663, + 3.0243473052978516, + -0.07354630529880524, + 0.15178123116493225 + ], + "gripper_value": 0.052451856434345245 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 3 cm, keep gripper open; then move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23452375829219818, + -0.022868318483233452, + 0.03395017236471176, + 3.006720781326294, + -0.057707104831933975, + 0.1714800000190735 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal": [ + 750, + 470, + 961, + 789 + ], + "table": [ + 4, + 71, + 995, + 992 + ], + "metal bowl": [ + 563, + 290, + 752, + 527 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 3 cm, keep gripper open; then move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2345665991306305, + -0.016821587458252907, + 0.0444471575319767, + 3.0072977542877197, + -0.06527049839496613, + 0.16987602412700653 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper open; then move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23639705777168274, + -0.009578962810337543, + 0.051459431648254395, + 2.9938504695892334, + -0.04355886951088905, + 0.1846715807914734 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "drag cloth to burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, keep gripper open; then move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24679583311080933, + 0.007039668038487434, + 0.059257227927446365, + 2.999729871749878, + -0.07698356360197067, + 0.2234593778848648 + ], + "gripper_value": 0.7437760233879089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The robot is currently grasping the blue cloth on the table, having completed the approach and grasp phases. The end-effector is in contact with the cloth, ready to initiate movement. The next action is to drag the cloth toward the lower burner area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 5 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27128612995147705, + 0.03226201608777046, + 0.054695144295692444, + 3.0448319911956787, + -0.10667043179273605, + 0.27968207001686096 + ], + "gripper_value": 0.9745318293571472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The blue cloth is already positioned on the lower burner, and the gripper is open above it, indicating the release action has been completed. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926730215549469, + 0.049564410001039505, + 0.055685363709926605, + 3.0750608444213867, + -0.14011740684509277, + 0.28757357597351074 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The blue cloth is already positioned on the lower burner, and the gripper is open above it, indicating the release action has been completed. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3186279833316803, + 0.05976752191781998, + 0.0686001107096672, + 3.0838468074798584, + -0.1693110316991806, + 0.33557936549186707 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue cloth into the lower of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp cloth" + }, + { + "id": 3, + "subtask": "drag cloth to burner" + }, + { + "id": 4, + "subtask": "release cloth on burner" + } + ], + "subtask_name": "release cloth on burner", + "subtask_reasoning": "The blue cloth is already positioned on the lower burner, and the gripper is open above it, indicating the release action has been completed. No further movement or grasping is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000860_ecot.json b/cot/chunk-0000/episode_0000860_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a579cc6fa20eeb51a8a6ca178ecae1e05cd7078b --- /dev/null +++ b/cot/chunk-0000/episode_0000860_ecot.json @@ -0,0 +1,3397 @@ +{ + "task_name": "episode_0000860", + "episode_json": "json/chunk-0000/episode_0000860.json", + "video_path": "videos/chunk-0000/image_0/episode_0000860.mp4", + "instruction": "Move the yellow cloth behind the pot with the spatula.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000860.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.51996910572052, + "std": 0.2334720343351364, + "delta_total": 0.0013339519500732422, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51997, std=0.23347, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 120, + 120, + 120, + 120, + 220, + 220, + 220, + 220, + 220, + 320, + 320, + 320, + 320, + 333, + 333, + 333, + 333, + 333, + 433, + 433, + 433, + 433, + 433, + 433, + 433 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 19 + ], + [ + 3, + 20, + 23 + ], + [ + 4, + 24, + 28 + ], + [ + 5, + 29, + 32 + ], + [ + 6, + 33, + 37 + ], + [ + 7, + 38, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spatula\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the yellow spatula near the cloth without closing the gripper.\"},\n {\"id\": 2, \"name\": \"position for push\", \"start\": 4, \"end\": 19, \"planning\": \"Adjust pose and lower the spatula to make contact with the yellow cloth in preparation for pushing.\"},\n {\"id\": 3, \"name\": \"push cloth behind pot\", \"start\": 20, \"end\": 23, \"planning\": \"Apply forward motion with the spatula to slide the yellow cloth behind the metal pot.\"},\n {\"id\": 4, \"name\": \"retract and reposition\", \"start\": 24, \"end\": 28, \"planning\": \"Lift and move the spatula away from the cloth to reset position for final adjustment.\"},\n {\"id\": 5, \"name\": \"fine-tune cloth position\", \"start\": 29, \"end\": 32, \"planning\": \"Make small corrective pushes to ensure the cloth is fully behind the pot.\"},\n {\"id\": 6, \"name\": \"retreat to home\", \"start\": 33, \"end\": 37, \"planning\": \"Withdraw the spatula upward and backward to clear the workspace after manipulation.\"},\n {\"id\": 7, \"name\": \"final pose hold\", \"start\": 38, \"end\": 44, \"planning\": \"Hold stationary end-effector pose above the scene to conclude the task.\"}\n ],\n \"global_plan\": \"Use the spatula to push the yellow cloth behind the pot through a sequence of approach, contact, sliding, retraction, fine adjustment, and retreat phases.\",\n \"notes\": \"No grasping occurs; all manipulation is contact-based pushing/sliding. Gripper remains open throughout except during non-grasping contact phases. Segment boundaries respected where motion semantics align.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spatula", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the yellow spatula near the cloth without closing the gripper." + }, + { + "id": 2, + "name": "position for push", + "start": 4, + "end": 19, + "planning": "Adjust pose and lower the spatula to make contact with the yellow cloth in preparation for pushing." + }, + { + "id": 3, + "name": "push cloth behind pot", + "start": 20, + "end": 23, + "planning": "Apply forward motion with the spatula to slide the yellow cloth behind the metal pot." + }, + { + "id": 4, + "name": "retract and reposition", + "start": 24, + "end": 28, + "planning": "Lift and move the spatula away from the cloth to reset position for final adjustment." + }, + { + "id": 5, + "name": "fine-tune cloth position", + "start": 29, + "end": 32, + "planning": "Make small corrective pushes to ensure the cloth is fully behind the pot." + }, + { + "id": 6, + "name": "retreat to home", + "start": 33, + "end": 37, + "planning": "Withdraw the spatula upward and backward to clear the workspace after manipulation." + }, + { + "id": 7, + "name": "final pose hold", + "start": 38, + "end": 44, + "planning": "Hold stationary end-effector pose above the scene to conclude the task." + } + ], + "global_plan": "Use the spatula to push the yellow cloth behind the pot through a sequence of approach, contact, sliding, retraction, fine adjustment, and retreat phases.", + "notes": "No grasping occurs; all manipulation is contact-based pushing/sliding. Gripper remains open throughout except during non-grasping contact phases. Segment boundaries respected where motion semantics align." + } + }, + "episode_goal": "Move the yellow cloth behind the pot with the spatula.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37043726444244385, + 0.10216864943504333, + 0.09143146872520447, + -3.031447649002075, + -0.006198158022016287, + -0.003046268131583929 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot is currently approaching the spatula with an open gripper. No contact or grasping has occurred yet. The next action is to continue moving the end-effector closer to the spatula handle to prepare for grasping in the subsequent subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 3 cm, keep gripper open; then move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36849719285964966, + 0.10125449299812317, + 0.07618806511163712, + -3.043855667114258, + 0.03408794105052948, + -0.008349107578396797 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move down 10 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3595932722091675, + 0.12483826279640198, + 0.0761459544301033, + -3.052319049835205, + 0.047061894088983536, + 0.006337782368063927 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move down 9 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3495536744594574, + 0.13584694266319275, + 0.08660378307104111, + -3.0825161933898926, + 0.024793274700641632, + -0.016139499843120575 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 56, + 192, + 894, + 904 + ], + "yellow cloth": [ + 289, + 241, + 538, + 446 + ], + "metal pan": [ + 491, + 406, + 770, + 748 + ], + "yellow sponge": [ + 140, + 234, + 241, + 392 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "approach spatula", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3361171782016754, + 0.14027197659015656, + 0.11697877943515778, + -3.089632749557495, + -0.06582514196634293, + -0.038866423070430756 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3235805034637451, + 0.145985409617424, + 0.10423403978347778, + -3.097978353500366, + -0.06597106158733368, + -0.02270679362118244 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3245297372341156, + 0.14241160452365875, + 0.07786484062671661, + -3.065664529800415, + -0.022855620831251144, + -0.02816343493759632 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303455114364624, + 0.13669244945049286, + 0.031509239226579666, + -3.044794797897339, + 0.05536792799830437, + -0.01341927144676447 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.338125616312027, + 0.133494570851326, + 0.01726817712187767, + -3.0113399028778076, + 0.0683978721499443, + -0.003965605981647968 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33985471725463867, + 0.13477811217308044, + 0.01711980625987053, + -3.0030605792999268, + 0.06874740868806839, + -0.005189994815737009 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33866462111473083, + 0.1357906013727188, + 0.016281066462397575, + -2.9997308254241943, + 0.07328706979751587, + -0.017849503085017204 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The scene shows a spatula, a yellow cloth, and a pot on a wooden surface. The robot's end-effector is positioned above the spatula with the gripper open, indicating the approach phase has started but no contact has been made yet. The next action is to lower the end-effector to make contact with the spatula handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33438050746917725, + 0.1385558843612671, + 0.019092490896582603, + -3.0111453533172607, + 0.07365324348211288, + -0.02344835363328457 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33061444759368896, + 0.1432664543390274, + 0.031921084970235825, + -3.023940086364746, + 0.050045378506183624, + -0.014023779891431332 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 58, + 188, + 894, + 901 + ], + "metal pan": [ + 491, + 405, + 769, + 747 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32770872116088867, + 0.1446586549282074, + 0.03376872092485428, + -3.0467934608459473, + 0.052672069519758224, + -0.012987133115530014 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, close gripper; then move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3257031738758087, + 0.14754244685173035, + 0.03385373204946518, + -3.0444626808166504, + 0.058342259377241135, + -0.005530994851142168 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.324881374835968, + 0.150328129529953, + 0.03386935591697693, + -3.025676727294922, + 0.061337508261203766, + 0.005488043650984764 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move up 7 cm, tilt right 10 degrees, keep gripper closed; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176462948322296, + 0.15158306062221527, + 0.025346530601382256, + -3.004572868347168, + 0.07412103563547134, + 0.0012696870835497975 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move up 7 cm, tilt right 10 degrees, keep gripper closed; then move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133380115032196, + 0.15181386470794678, + 0.020436091348528862, + -2.9874608516693115, + 0.08125902712345123, + 0.009523905813694 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move up 7 cm, tilt right 10 degrees, keep gripper closed; then move right 8 cm, move up 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125923275947571, + 0.14726577699184418, + 0.016287604346871376, + -2.968240737915039, + 0.08368486166000366, + -0.0009614939917810261 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 7 cm, tilt right 10 degrees, keep gripper closed; then move right 10 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.312563955783844, + 0.14633892476558685, + 0.016020528972148895, + -2.9681332111358643, + 0.086612768471241, + -0.010951374657452106 + ], + "gripper_value": 0.6541022062301636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "position for push", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31203314661979675, + 0.14696872234344482, + 0.014930599369108677, + -2.961416721343994, + 0.08325295895338058, + -0.0031556205358356237 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "push cloth behind pot", + "subtask_reasoning": "The spatula is positioned above the yellow cloth, which lies to the left of the metal pot on the wooden surface. The approach phase is complete, and the robot is now aligning the tool for contact. The next action is to lower the spatula to make contact with the cloth to begin the pushing maneuver." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31088510155677795, + 0.14652065932750702, + 0.014948604628443718, + -2.963573932647705, + 0.08911362290382385, + 0.005062267649918795 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "push cloth behind pot", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142802119255066, + 0.14594130218029022, + 0.020299090072512627, + -2.9958131313323975, + 0.08585719019174576, + 0.01239461824297905 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "push cloth behind pot", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt right 10 degrees, keep gripper closed; then move forward 1 cm, move right 11 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.313757985830307, + 0.15438169240951538, + 0.04955028370022774, + -3.058363199234009, + 0.039521101862192154, + 0.06503818929195404 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "push cloth behind pot", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move right 11 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 4 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3132142722606659, + 0.1447373479604721, + 0.08033028990030289, + -3.1013200283050537, + 0.008743472397327423, + 0.04215878248214722 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31533488631248474, + 0.12084373086690903, + 0.08910490572452545, + -3.104491949081421, + 0.028520772233605385, + 0.015217513777315617 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.314553827047348, + 0.09105352312326431, + 0.08957505226135254, + -3.095531940460205, + 0.06109583005309105, + 0.014041025191545486 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 58, + 195, + 895, + 893 + ], + "yellow sponge": [ + 139, + 234, + 242, + 392 + ], + "metal pan": [ + 490, + 406, + 769, + 750 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 2 cm, move up 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31398236751556396, + 0.06543553620576859, + 0.09107325971126556, + -3.0681121349334717, + 0.10218677669763565, + 0.06028216332197189 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move back 1 cm, move left 4 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3167150616645813, + 0.04113367572426796, + 0.07210634648799896, + -3.0255939960479736, + 0.1626187264919281, + 0.0981246829032898 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retract and reposition", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32140007615089417, + 0.031618017703294754, + 0.05107777938246727, + -2.9862682819366455, + 0.20713002979755402, + 0.1463632434606552 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "fine-tune cloth position", + "subtask_reasoning": "The spatula is currently positioned in contact with the yellow cloth, which sits to the left of the metal pot. The approach and positioning phases are complete, and the gripper remains open as no grasping is required. The next immediate action is to slide the spatula forward to push the cloth behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3264729976654053, + 0.030919084325432777, + 0.027605336159467697, + -2.9539477825164795, + 0.24954557418823242, + 0.14854282140731812 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "fine-tune cloth position", + "subtask_reasoning": "The spatula is in contact with the yellow cloth, positioned near the pot. The cloth has been partially moved behind the pot, and the current subtask involves fine-tuning its position. The next action is likely a small adjustment to ensure the cloth is correctly placed behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, open gripper; then move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3331768810749054, + 0.031056562438607216, + 0.009363986551761627, + -2.9159703254699707, + 0.2759113311767578, + 0.15129691362380981 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 52, + 147, + 897, + 904 + ], + "metal pan": [ + 490, + 401, + 773, + 753 + ], + "yellow cloth": [ + 133, + 228, + 241, + 397 + ], + "yellow sponge": [ + 283, + 227, + 534, + 485 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "fine-tune cloth position", + "subtask_reasoning": "The spatula is in contact with the yellow cloth, positioned near the pot. The cloth has been partially moved behind the pot, and the current subtask involves fine-tuning its position. The next action is likely a small adjustment to ensure the cloth is correctly placed behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34083446860313416, + 0.030992111191153526, + 0.007177439052611589, + -2.9029059410095215, + 0.26298755407333374, + 0.13891540467739105 + ], + "gripper_value": 0.4860933721065521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "fine-tune cloth position", + "subtask_reasoning": "The spatula is in contact with the yellow cloth, positioned near the pot. The cloth has been partially moved behind the pot, and the current subtask involves fine-tuning its position. The next action is likely a small adjustment to ensure the cloth is correctly placed behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34147706627845764, + 0.031137622892856598, + 0.00695488415658474, + -2.903377056121826, + 0.26464274525642395, + 0.12006157636642456 + ], + "gripper_value": 0.5679898858070374 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The spatula is in contact with the yellow cloth, positioned near the pot. The cloth has been partially moved behind the pot, and the current subtask involves fine-tuning its position. The next action is likely a small adjustment to ensure the cloth is correctly placed behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.33780765533447266, + 0.033195145428180695, + 0.0083514004945755, + -2.9277420043945312, + 0.25407686829566956, + 0.0975729450583458 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The spatula is in contact with the yellow cloth, positioned near the pot. The cloth has been partially moved behind the pot, and the current subtask involves fine-tuning its position. The next action is likely a small adjustment to ensure the cloth is correctly placed behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324388265609741, + 0.035619258880615234, + 0.015043540857732296, + -2.98435378074646, + 0.2532326579093933, + 0.05958758667111397 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The spatula has successfully pushed the yellow cloth behind the pot and is now retracting away from the objects. The gripper is open, indicating no grasp is maintained. The next action is to continue retreating to the home position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 33, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3325752019882202, + 0.05262662470340729, + 0.041473496705293655, + -3.039968252182007, + 0.21335390210151672, + 0.07236494868993759 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 54, + 153, + 895, + 902 + ], + "yellow cloth": [ + 284, + 228, + 545, + 451 + ], + "metal pan": [ + 484, + 410, + 780, + 744 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The spatula has successfully pushed the yellow cloth behind the pot and is now retracting away from the objects. The gripper is open, indicating no grasp is maintained. The next action is to continue retreating to the home position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 4 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.33345815539360046, + 0.0722324401140213, + 0.06486304849386215, + -3.1060118675231934, + 0.17087653279304504, + 0.06318897753953934 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "retreat to home", + "subtask_reasoning": "The spatula has successfully pushed the yellow cloth behind the pot and is now retracting away from the objects. The gripper is open, indicating no grasp is maintained. The next action is to continue retreating to the home position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, keep gripper open; then move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.33939510583877563, + 0.09505459666252136, + 0.08140493929386139, + -3.1306188106536865, + 0.11051511764526367, + 0.043650995939970016 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "final pose hold", + "subtask_reasoning": "The spatula has successfully pushed the yellow cloth behind the pot and is now retracting away from the objects. The gripper is open, indicating no grasp is maintained. The next action is to continue retreating to the home position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 38, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.34855490922927856, + 0.10593119263648987, + 0.08365243673324585, + -3.0988903045654297, + 0.050361037254333496, + 0.015023713000118732 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "final pose hold", + "subtask_reasoning": "The spatula has successfully pushed the yellow cloth behind the pot and is now retracting away from the objects. The gripper is open, indicating no grasp is maintained. The next action is to continue retreating to the home position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 38, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571607768535614, + 0.10589396208524704, + 0.08381563425064087, + -3.061765670776367, + 0.006782944314181805, + 0.0017817453481256962 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "final pose hold", + "subtask_reasoning": "The spatula has successfully pushed the yellow cloth behind the pot and is now retracting away from the objects. The gripper is open, indicating no grasp is maintained. The next action is to continue retreating to the home position to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 38, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660048842430115, + 0.10381938517093658, + 0.08459535241127014, + -3.0188827514648438, + -0.03491920605301857, + -0.0038271264638751745 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "final pose hold", + "subtask_reasoning": "The spatula is positioned near the yellow cloth and pot, having completed the sliding phase to move the cloth behind the pot. The gripper remains open with no closing evidence, indicating no grasping action. The next step is likely a minor retraction or stabilization to finalize the cloth's position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 38, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3661637008190155, + 0.10325782001018524, + 0.08459535241127014, + -3.018829822540283, + -0.03473140299320221, + -0.006884465925395489 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "final pose hold", + "subtask_reasoning": "The spatula is positioned near the yellow cloth and pot, having completed the sliding phase to move the cloth behind the pot. The gripper remains open with no closing evidence, indicating no grasping action. The next step is likely a minor retraction or stabilization to finalize the cloth's position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 38, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657660186290741, + 0.10377535969018936, + 0.0845816507935524, + -3.019225597381592, + -0.03361058980226517, + -0.0021193870343267918 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "final pose hold", + "subtask_reasoning": "The spatula is positioned near the yellow cloth and pot, having completed the sliding phase to move the cloth behind the pot. The gripper remains open with no closing evidence, indicating no grasping action. The next step is likely a minor retraction or stabilization to finalize the cloth's position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 38, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3660048842430115, + 0.10381938517093658, + 0.08459535241127014, + -3.0189361572265625, + -0.035106927156448364, + -0.0023037372156977654 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth behind the pot with the spatula." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spatula" + }, + { + "id": 2, + "subtask": "position for push" + }, + { + "id": 3, + "subtask": "push cloth behind pot" + }, + { + "id": 4, + "subtask": "retract and reposition" + }, + { + "id": 5, + "subtask": "fine-tune cloth position" + }, + { + "id": 6, + "subtask": "retreat to home" + }, + { + "id": 7, + "subtask": "final pose hold" + } + ], + "subtask_name": "final pose hold", + "subtask_reasoning": "The spatula is positioned near the yellow cloth and pot, having completed the sliding phase to move the cloth behind the pot. The gripper remains open with no closing evidence, indicating no grasping action. The next step is likely a minor retraction or stabilization to finalize the cloth's position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 38, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000862_ecot.json b/cot/chunk-0000/episode_0000862_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..cf3f7da46c1c652e870f7a41ebede75bf315de7b --- /dev/null +++ b/cot/chunk-0000/episode_0000862_ecot.json @@ -0,0 +1,545 @@ +{ + "task_name": "episode_0000862", + "episode_json": "json/chunk-0000/episode_0000862.json", + "video_path": "videos/chunk-0000/image_0/episode_0000862.mp4", + "instruction": "End effector reaching pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 10, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000862.json" + }, + "fps": 5.0, + "T_eff": 10, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\n \"id\": 1,\n \"name\": \"approach pot\",\n \"start\": 0,\n \"end\": 9,\n \"planning\": \"Move the end effector from the initial position toward the red pot on the stove while keeping the gripper open.\"\n }\n ],\n \"global_plan\": \"The robot arm approaches the red pot on the stove without grasping it, as the gripper remains fully open throughout the entire motion.\",\n \"notes\": \"Gripper evidence shows no closing (delta=0.00000), so no grasp or lift actions are inferred. The motion is purely translational and rotational approach toward the target object.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 9, + "planning": "Move the end effector from the initial position toward the red pot on the stove while keeping the gripper open." + } + ], + "global_plan": "The robot arm approaches the red pot on the stove without grasping it, as the gripper remains fully open throughout the entire motion.", + "notes": "Gripper evidence shows no closing (delta=0.00000), so no grasp or lift actions are inferred. The motion is purely translational and rotational approach toward the target object." + } + }, + "episode_goal": "Move the end effector to a position directly above the red pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28514111042022705, + 0.07059009373188019, + 0.13951605558395386, + -3.1140079498291016, + -0.02825073152780533, + -0.07746528089046478 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to continue moving the end effector closer to the pot to reach the target position directly above it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28461673855781555, + 0.06632903218269348, + 0.13168080151081085, + -3.1179494857788086, + -0.007384883239865303, + -0.07376959174871445 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to continue moving the end effector closer to the pot to reach the target position directly above it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 11 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2964528501033783, + 0.03651062399148941, + 0.12520091235637665, + -3.0787243843078613, + -0.0390620119869709, + -0.03364997357130051 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to continue moving the end effector closer to the pot to reach the target position directly above it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30357110500335693, + 0.006990130990743637, + 0.11648621410131454, + -3.056133985519409, + -0.044091351330280304, + -0.025438109412789345 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed bunny": [ + 146, + 340, + 369, + 537 + ], + "wooden bowl": [ + 65, + 414, + 185, + 535 + ], + "faucet": [ + 85, + 3, + 222, + 174 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to continue moving the end effector closer to the pot to reach the target position directly above it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3134750425815582, + -0.008751965127885342, + 0.11095941811800003, + -3.035249948501587, + -0.09499318897724152, + 0.009195576421916485 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to adjust the end effector's position to be directly above the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3228459358215332, + -0.02945649065077305, + 0.09994317591190338, + -3.0236783027648926, + -0.15761849284172058, + -0.006530864164233208 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to adjust the end effector's position to be directly above the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3293724060058594, + -0.04375748708844185, + 0.08956018090248108, + -2.997359275817871, + -0.16804590821266174, + 0.0026022554375231266 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to adjust the end effector's position to be directly above the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410518169403076, + -0.053210560232400894, + 0.08768626302480698, + -2.989989995956421, + -0.18819914758205414, + 0.01801634393632412 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to adjust the end effector's position to be directly above the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3496130704879761, + -0.05434028059244156, + 0.07981672137975693, + -2.999875545501709, + -0.24617256224155426, + 0.007314801681786776 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to adjust the end effector's position to be directly above the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3561536371707916, + -0.04695621505379677, + 0.06807445734739304, + -3.0042502880096436, + -0.2699861526489258, + -0.016705729067325592 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to a position directly above the red pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end effector hovering near the red pot. The gripper remains fully open, indicating no grasping action has occurred yet. The next step is to adjust the end effector's position to be directly above the red pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000863_ecot.json b/cot/chunk-0000/episode_0000863_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..18eee08cdf0c31ca95e873d15c8903a011f15af0 --- /dev/null +++ b/cot/chunk-0000/episode_0000863_ecot.json @@ -0,0 +1,2693 @@ +{ + "task_name": "episode_0000863", + "episode_json": "json/chunk-0000/episode_0000863.json", + "video_path": "videos/chunk-0000/image_0/episode_0000863.mp4", + "instruction": "Fold the cloth from bottom to top.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000863.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9324241280555725, + "std": 0.4290653467178345, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93242, std=0.42907, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 117, + 134, + 134, + 134, + 134, + 134, + 134, + 134, + 134, + 134 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 16 + ], + [ + 3, + 17, + 33 + ], + [ + 4, + 34, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper toward the blue cloth without closing, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift cloth edge\", \"start\": 6, \"end\": 16, \"planning\": \"Close gripper to grasp the bottom edge of the cloth and begin lifting it upward.\"},\n {\"id\": 3, \"name\": \"fold cloth upward\", \"start\": 17, \"end\": 33, \"planning\": \"Lift and move the grasped cloth edge upward to fold it over the top portion.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 34, \"end\": 42, \"planning\": \"Open gripper to release the folded cloth and retreat upward to complete the motion.\"}\n ],\n \"global_plan\": \"Fold the cloth from bottom to top by approaching, grasping the bottom edge, lifting and folding it upward, then releasing and retreating.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach. Segments 2–4 show meaningful gripper closure consistent with grasping, lifting, folding, and releasing. Frame ranges are contiguous and cover all 43 frames (0–42).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 5, + "planning": "Move the gripper toward the blue cloth without closing, positioning for contact." + }, + { + "id": 2, + "name": "grasp and lift cloth edge", + "start": 6, + "end": 16, + "planning": "Close gripper to grasp the bottom edge of the cloth and begin lifting it upward." + }, + { + "id": 3, + "name": "fold cloth upward", + "start": 17, + "end": 33, + "planning": "Lift and move the grasped cloth edge upward to fold it over the top portion." + }, + { + "id": 4, + "name": "release and retreat", + "start": 34, + "end": 42, + "planning": "Open gripper to release the folded cloth and retreat upward to complete the motion." + } + ], + "global_plan": "Fold the cloth from bottom to top by approaching, grasping the bottom edge, lifting and folding it upward, then releasing and retreating.", + "notes": "Segment 1 shows no gripper closure — described as approach. Segments 2–4 show meaningful gripper closure consistent with grasping, lifting, folding, and releasing. Frame ranges are contiguous and cover all 43 frames (0–42)." + } + }, + "episode_goal": "Fold the cloth from bottom to top.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30856674909591675, + 0.0825456827878952, + 0.07210218161344528, + -3.1035985946655273, + -0.2022886574268341, + 0.6011477112770081 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the washing machine, with the gripper open and no contact yet. No part of the folding task has been completed. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 50 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30490514636039734, + 0.07994876801967621, + 0.06314483284950256, + -3.0925309658050537, + -0.1713874638080597, + 0.5917555093765259 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the washing machine, with the gripper open and no contact yet. No part of the folding task has been completed. The next action is to move the gripper closer to the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move back 1 cm, move right 7 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30520427227020264, + 0.07136566191911697, + 0.0567559078335762, + -3.0754761695861816, + -0.14385196566581726, + 0.5001701712608337 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move right 7 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29647916555404663, + 0.06131729856133461, + 0.04842301458120346, + -3.068087339401245, + -0.11520354449748993, + 0.430876225233078 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.28836432099342346, + 0.048254694789648056, + 0.058998506516218185, + 3.1407177448272705, + -0.17052870988845825, + 0.21769091486930847 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751646339893341, + 0.043050169944763184, + 0.060986217111349106, + -3.0989248752593994, + -0.17935891449451447, + -0.03793606907129288 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 8 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 50 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655216157436371, + 0.02763679437339306, + 0.0628916397690773, + -3.001070261001587, + -0.16554132103919983, + -0.2989223599433899 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 6 cm, rotate counterclockwise 50 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.25611281394958496, + 0.023057306185364723, + 0.057263296097517014, + -2.9379982948303223, + -0.14354801177978516, + -0.5341598987579346 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 309, + 418, + 929, + 814 + ], + "grey basin": [ + 878, + 635, + 996, + 995 + ], + "table base": [ + 14, + 122, + 297, + 320 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525622844696045, + 0.004070508759468794, + 0.05151095241308212, + -2.922452688217163, + -0.0886673554778099, + -0.7918487191200256 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24672596156597137, + -0.00924050621688366, + 0.03621099516749382, + -2.9677629470825195, + -0.014305254444479942, + -0.9508304595947266 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 308, + 421, + 928, + 812 + ], + "table base": [ + 13, + 113, + 312, + 322 + ], + "grey basin": [ + 878, + 634, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2503480315208435, + -0.02448122762143612, + 0.031025324016809464, + -3.0029163360595703, + -0.023860758170485497, + -1.026450276374817 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot is positioned above the blue cloth on the sink, with the gripper open and no contact yet. The approach phase is ongoing, with no grasping or folding completed. The next action should be to lower the gripper toward the bottom edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25625839829444885, + -0.03798428550362587, + 0.023603999987244606, + -3.014529228210449, + -0.008223681710660458, + -1.0874910354614258 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.263628214597702, + -0.040113795548677444, + 0.01978319138288498, + -3.017571210861206, + -0.005543119739741087, + -1.0841386318206787 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707239091396332, + -0.03904983773827553, + 0.008570199832320213, + -3.0294032096862793, + 0.023776676505804062, + -1.0837757587432861 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2793014347553253, + -0.041711993515491486, + 0.004020215943455696, + -3.026326894760132, + 0.023028690367937088, + -1.077035903930664 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2843374013900757, + -0.050035227090120316, + -0.00017399703210685402, + -3.0229525566101074, + 0.033350471407175064, + -1.0985465049743652 + ], + "gripper_value": 0.9343546032905579 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 5 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.288952499628067, + -0.0497911311686039, + -0.0011743542272597551, + -3.0107293128967285, + 0.03630540147423744, + -1.0877037048339844 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth edge", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888830900192261, + -0.04816192388534546, + -0.0014564529992640018, + -3.006160020828247, + 0.044575564563274384, + -1.0771557092666626 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2883763909339905, + -0.0474642850458622, + -0.001431745127774775, + -3.0062131881713867, + 0.04812541976571083, + -1.0632336139678955 + ], + "gripper_value": 0.1602664440870285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28766193985939026, + -0.04637167602777481, + -0.0014330968260765076, + -3.0080010890960693, + 0.0527469664812088, + -1.0510703325271606 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28721120953559875, + -0.04599259793758392, + -0.0009952484397217631, + -3.0090012550354004, + 0.056035857647657394, + -1.0516209602355957 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2853966951370239, + -0.044598594307899475, + 0.016652652993798256, + -2.9731714725494385, + 0.035584744065999985, + -1.0574346780776978 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28081291913986206, + -0.04576381668448448, + 0.026058034971356392, + -2.9969537258148193, + 0.03409070521593094, + -1.051289439201355 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29263126850128174, + -0.05224776640534401, + 0.03950762748718262, + -3.0080482959747314, + 0.00797424279153347, + -1.0420761108398438 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3190588653087616, + -0.05704018473625183, + 0.06466508656740189, + -2.9816951751708984, + -0.052552301436662674, + -1.0099999904632568 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 330, + 419, + 929, + 811 + ], + "grey basin": [ + 877, + 635, + 996, + 995 + ], + "table base": [ + 13, + 104, + 311, + 320 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot has approached the cloth and is now positioned above the bottom edge. The gripper is open and ready to grasp. The next action is to close the gripper to secure the cloth edge before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3393861651420593, + -0.05857079476118088, + 0.07402677834033966, + -2.9778263568878174, + -0.06640248745679855, + -0.9903193116188049 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 320, + 418, + 929, + 800 + ], + "grey basin": [ + 878, + 634, + 996, + 995 + ], + "table base": [ + 13, + 105, + 311, + 320 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3631376028060913, + -0.06259502470493317, + 0.06975015252828598, + -2.982304096221924, + -0.06415924429893494, + -0.9677814841270447 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.38591039180755615, + -0.06112920865416527, + 0.058815885335206985, + -2.97426176071167, + -0.04748958721756935, + -0.9246808290481567 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.40261995792388916, + -0.049414604902267456, + 0.04336411878466606, + -2.951436996459961, + -0.016062548384070396, + -0.8713136911392212 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4111541509628296, + -0.044010769575834274, + 0.033452291041612625, + -2.925361156463623, + 0.009228542447090149, + -0.8430011868476868 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.41642338037490845, + -0.04189291596412659, + 0.0200413316488266, + -2.919734239578247, + 0.025346936658024788, + -0.834682047367096 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.41734200716018677, + -0.04165100306272507, + 0.01148892566561699, + -2.922936201095581, + 0.032986413687467575, + -0.8313607573509216 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4181676208972931, + -0.04055172950029373, + 0.004296774510294199, + -2.921450614929199, + 0.04333796724677086, + -0.8274064064025879 + ], + "gripper_value": 0.09437843412160873 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 4 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.41815003752708435, + -0.04034323990345001, + 0.004333021584898233, + -2.923567771911621, + 0.046015553176403046, + -0.8135970234870911 + ], + "gripper_value": 0.2723398804664612 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth upward", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move back 4 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.41843318939208984, + -0.03404233604669571, + 0.004274904262274504, + -2.924769639968872, + 0.04355727508664131, + -0.7837572693824768 + ], + "gripper_value": 0.5178548097610474 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.41794079542160034, + -0.03171969950199127, + 0.004271249286830425, + -2.9254393577575684, + 0.046306803822517395, + -0.7700031399726868 + ], + "gripper_value": 0.763324499130249 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.41464781761169434, + -0.03106117993593216, + 0.0038288605865091085, + -2.9448461532592773, + 0.04519554227590561, + -0.751742422580719 + ], + "gripper_value": 0.9752515554428101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4101554751396179, + -0.027782268822193146, + 0.00723060080781579, + -2.956768035888672, + 0.04852389544248581, + -0.73870450258255 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the bottom edge of the blue cloth, having successfully grasped and lifted it from the stovetop surface. The cloth is suspended in mid-air as the arm moves upward to execute the fold. The next action is to continue lifting the cloth higher to complete the upward folding motion before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.40699610114097595, + -0.02697993628680706, + 0.020614562556147575, + -2.9495465755462646, + 0.03466228023171425, + -0.7339529395103455 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded and is now resting on the sink surface. The gripper is open and positioned above the cloth, indicating the release phase is complete. The robot is likely retreating or preparing to move away from the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.40420594811439514, + -0.02788488380610943, + 0.03971108794212341, + -2.939540386199951, + 0.005122068338096142, + -0.7319055795669556 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue towel": [ + 316, + 430, + 929, + 768 + ], + "table base": [ + 34, + 102, + 312, + 320 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded and is now resting on the sink surface. The gripper is open and positioned above the cloth, indicating the release phase is complete. The robot is likely retreating or preparing to move away from the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.39900028705596924, + -0.028636692091822624, + 0.06433345377445221, + -2.9254636764526367, + -0.03285178169608116, + -0.7295304536819458 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded and is now resting on the sink surface. The gripper is open and positioned above the cloth, indicating the release phase is complete. The robot is likely retreating or preparing to move away from the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3900226950645447, + -0.02664591372013092, + 0.08555120974779129, + -2.9082236289978027, + -0.05602462962269783, + -0.7298884987831116 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded and is now resting on the sink surface. The gripper is open and positioned above the cloth, indicating the release phase is complete. The robot is likely retreating or preparing to move away from the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3774198293685913, + -0.01566610299050808, + 0.09856641292572021, + -2.903594732284546, + -0.07258310914039612, + -0.6965176463127136 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom to top." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "grasp and lift cloth edge" + }, + { + "id": 3, + "subtask": "fold cloth upward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded and is now resting on the sink surface. The gripper is open and positioned above the cloth, indicating the release phase is complete. The robot is likely retreating or preparing to move away from the folded cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000864_ecot.json b/cot/chunk-0000/episode_0000864_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0ecfe19f08e69aa9d2d12fc7ae08fa04d7edb723 --- /dev/null +++ b/cot/chunk-0000/episode_0000864_ecot.json @@ -0,0 +1,1990 @@ +{ + "task_name": "episode_0000864", + "episode_json": "json/chunk-0000/episode_0000864.json", + "video_path": "videos/chunk-0000/image_0/episode_0000864.mp4", + "instruction": "Place the yellow brush on top of the yellow towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000864.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.276100754737854, + "std": 0.12421320378780365, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.27610, std=0.12421, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 24 + ], + [ + 3, + 25, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp yellow brush\", \"start\": 0, \"end\": 17, \"planning\": \"Move end-effector to the yellow brush on the stovetop, close gripper to securely grasp it, and lift slightly to prepare for transport.\"},\n {\"id\": 2, \"name\": \"transport brush over towel\", \"start\": 18, \"end\": 24, \"planning\": \"Carry the grasped yellow brush across the stovetop toward the yellow towel, adjusting orientation for precise placement.\"},\n {\"id\": 3, \"name\": \"release brush onto towel and retreat\", \"start\": 25, \"end\": 32, \"planning\": \"Open gripper to release the yellow brush onto the yellow towel, then retract end-effector upward and backward to clear the scene.\"}\n ],\n \"global_plan\": \"Grasp the yellow brush from the stovetop, move it over the yellow towel, and release it cleanly on top of the towel before retreating.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.27148) consistent with grasping; Segment 2 shows opening motion during transport; Segment 3 has no gripper change — consistent with release already completed and static retreat. All subtasks are contiguous and cover full trajectory [0,32].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp yellow brush", + "start": 0, + "end": 17, + "planning": "Move end-effector to the yellow brush on the stovetop, close gripper to securely grasp it, and lift slightly to prepare for transport." + }, + { + "id": 2, + "name": "transport brush over towel", + "start": 18, + "end": 24, + "planning": "Carry the grasped yellow brush across the stovetop toward the yellow towel, adjusting orientation for precise placement." + }, + { + "id": 3, + "name": "release brush onto towel and retreat", + "start": 25, + "end": 32, + "planning": "Open gripper to release the yellow brush onto the yellow towel, then retract end-effector upward and backward to clear the scene." + } + ], + "global_plan": "Grasp the yellow brush from the stovetop, move it over the yellow towel, and release it cleanly on top of the towel before retreating.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.27148) consistent with grasping; Segment 2 shows opening motion during transport; Segment 3 has no gripper change — consistent with release already completed and static retreat. All subtasks are contiguous and cover full trajectory [0,32]." + } + }, + "episode_goal": "Place the yellow brush on top of the yellow towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27276772260665894, + 0.13897375762462616, + 0.08825710415840149, + -3.0128328800201416, + -0.0835179015994072, + 0.029180249199271202 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27163854241371155, + 0.13820956647396088, + 0.08063480257987976, + -3.022859811782837, + -0.06231722980737686, + 0.025784339755773544 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26092979311943054, + 0.16369406878948212, + 0.07575195282697678, + -3.0173330307006836, + -0.07365632057189941, + 0.03342001512646675 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2653273642063141, + 0.17411349713802338, + 0.06255258619785309, + -3.0387024879455566, + -0.08695130050182343, + 0.004252588842064142 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2800663411617279, + 0.17735004425048828, + 0.053988583385944366, + -3.0549709796905518, + -0.12301921844482422, + -0.05135755240917206 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28845733404159546, + 0.16473768651485443, + 0.040970928966999054, + -3.102745771408081, + -0.1068902537226677, + -0.09474878758192062 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow spatula": [ + 121, + 364, + 301, + 552 + ], + "sink": [ + 740, + 448, + 994, + 961 + ], + "coffee maker": [ + 25, + 5, + 265, + 396 + ], + "frying pan": [ + 264, + 459, + 594, + 734 + ], + "yellow cloth": [ + 498, + 287, + 760, + 515 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29487478733062744, + 0.1434110701084137, + 0.036381203681230545, + -3.123967409133911, + -0.1099635660648346, + -0.15346913039684296 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 6 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955833375453949, + 0.1344064474105835, + 0.03353484347462654, + -3.133326292037964, + -0.10721805691719055, + -0.17056697607040405 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The scene shows a yellow brush on the stovetop near a yellow towel. The robot has not yet interacted with the brush. The next action is to move the gripper toward the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move up 7 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29389089345932007, + 0.14089438319206238, + 0.01736932247877121, + -3.1172091960906982, + -0.055848125368356705, + -0.14554451406002045 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 12 cm, move up 8 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2994939684867859, + 0.15508027374744415, + 0.0070197745226323605, + -3.0676097869873047, + -0.0037581371143460274, + -0.11937353760004044 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3050509989261627, + 0.16118022799491882, + 0.0052399649284780025, + -3.0539908409118652, + 0.011577187106013298, + -0.12591570615768433 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 14 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30265694856643677, + 0.158853679895401, + 0.004629997536540031, + -3.0611114501953125, + 0.016376305371522903, + -0.12757468223571777 + ], + "gripper_value": 0.7368898391723633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2962760329246521, + 0.15499506890773773, + 0.010089450515806675, + -3.075428009033203, + 0.03600943088531494, + -0.12234818190336227 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 13 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963240146636963, + 0.1634892374277115, + 0.028838088735938072, + -3.103588104248047, + 0.004900636617094278, + -0.06452543288469315 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 14 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 4 cm, move right 4 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30272671580314636, + 0.18220210075378418, + 0.05856923386454582, + -3.0846402645111084, + -0.03687469661235809, + 0.012933466583490372 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow spatula": [ + 82, + 269, + 209, + 504 + ], + "sink": [ + 741, + 449, + 994, + 962 + ], + "frying pan": [ + 261, + 463, + 593, + 728 + ], + "coffee maker": [ + 75, + 9, + 270, + 368 + ], + "yellow cloth": [ + 499, + 285, + 762, + 514 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 16 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183811604976654, + 0.16710665822029114, + 0.07992237061262131, + -3.0921707153320312, + -0.057501617819070816, + 0.0007840568432584405 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 14 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34731173515319824, + 0.11805956065654755, + 0.09605816751718521, + -3.106900930404663, + -0.08693334460258484, + -0.0668901726603508 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, keep gripper closed; then move right 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36686772108078003, + 0.06458409130573273, + 0.10025130212306976, + -3.0739800930023193, + -0.10673176497220993, + -0.1285184919834137 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "approach and grasp yellow brush", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, keep gripper closed; then move right 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38271352648735046, + 0.02466297149658203, + 0.09567354619503021, + -3.0223441123962402, + -0.13402453064918518, + -0.1358320116996765 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 259, + 460, + 594, + 742 + ], + "sink": [ + 739, + 429, + 994, + 961 + ], + "yellow spatula": [ + 386, + 183, + 522, + 406 + ], + "yellow cloth": [ + 498, + 281, + 759, + 515 + ], + "metal pot": [ + 261, + 462, + 592, + 742 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "transport brush over towel", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4004422426223755, + 0.004021051339805126, + 0.0734967365860939, + -3.035689353942871, + -0.13110888004302979, + -0.1069817841053009 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "transport brush over towel", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, open gripper; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4192204475402832, + -0.00388794275932014, + 0.06326986104249954, + -3.072024345397949, + -0.16485115885734558, + -0.10842402279376984 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "transport brush over towel", + "subtask_reasoning": "The robot arm is positioned above the stovetop near the yellow brush, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next likely action is to close the gripper to securely grasp the yellow brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4265368580818176, + -0.009012218564748764, + 0.06146080046892166, + -3.093658685684204, + -0.191499263048172, + -0.12636485695838928 + ], + "gripper_value": 0.8205437660217285 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "transport brush over towel", + "subtask_reasoning": "The robot is currently holding the yellow brush above the stovetop, having successfully grasped it in the previous step. The brush is positioned near the yellow towel but has not yet been moved directly over the target placement area. The next action is to translate the arm to position the brush directly above the yellow towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4245992600917816, + -0.013920217752456665, + 0.06041114032268524, + -3.1166751384735107, + -0.18087457120418549, + -0.1570281982421875 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "transport brush over towel", + "subtask_reasoning": "The robot is currently holding the yellow brush above the stovetop, having successfully grasped it in the previous step. The brush is positioned near the yellow towel but has not yet been moved directly over the target placement area. The next action is to translate the arm to position the brush directly above the yellow towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.41963261365890503, + -0.013093981891870499, + 0.06329909712076187, + -3.1204564571380615, + -0.13957276940345764, + -0.16380906105041504 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "transport brush over towel", + "subtask_reasoning": "The robot is currently holding the yellow brush above the stovetop, having successfully grasped it in the previous step. The brush is positioned near the yellow towel but has not yet been moved directly over the target placement area. The next action is to translate the arm to position the brush directly above the yellow towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4054175019264221, + -0.007439728360623121, + 0.06865120679140091, + -3.1030304431915283, + -0.09461440145969391, + -0.14269647002220154 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "transport brush over towel", + "subtask_reasoning": "The robot is currently holding the yellow brush above the stovetop, having successfully grasped it in the previous step. The brush is positioned near the yellow towel but has not yet been moved directly over the target placement area. The next action is to translate the arm to position the brush directly above the yellow towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 3 cm, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3819846212863922, + 0.013629402033984661, + 0.10033923387527466, + -3.1177825927734375, + -0.13004973530769348, + -0.08623706549406052 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The robot is currently holding the yellow brush above the stovetop, having successfully grasped it in the previous step. The brush is positioned near the yellow towel but has not yet been moved directly over the target placement area. The next action is to translate the arm to position the brush directly above the yellow towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3689424395561218, + 0.02035672962665558, + 0.09386150538921356, + -3.1199100017547607, + -0.10071945935487747, + -0.09304086863994598 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow spatula": [ + 574, + 309, + 675, + 507 + ], + "frying pan": [ + 260, + 461, + 594, + 747 + ], + "sink": [ + 738, + 452, + 994, + 960 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The robot is currently holding the yellow brush above the stovetop, having successfully grasped it in the previous step. The brush is positioned near the yellow towel but has not yet been moved directly over the target placement area. The next action is to translate the arm to position the brush directly above the yellow towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3687906265258789, + 0.020786428824067116, + 0.09350471198558807, + -3.116892099380493, + -0.10026304423809052, + -0.09592738747596741 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The robot is currently holding the yellow brush above the stovetop, having successfully grasped it in the previous step. The brush is positioned near the yellow towel but has not yet been moved directly over the target placement area. The next action is to translate the arm to position the brush directly above the yellow towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.36881187558174133, + 0.02043936587870121, + 0.0935070738196373, + -3.115612745285034, + -0.10008979588747025, + -0.0965869277715683 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The yellow brush is already resting on the yellow towel, and the gripper is fully open (value=1.00082) with no motion or grip change in the segment. The subtask of releasing and retreating is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36902177333831787, + 0.021016404032707214, + 0.09353221207857132, + -3.115549325942993, + -0.10164807736873627, + -0.09355136752128601 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The yellow brush is already resting on the yellow towel, and the gripper is fully open (value=1.00082) with no motion or grip change in the segment. The subtask of releasing and retreating is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3690434694290161, + 0.020668823271989822, + 0.09353489428758621, + -3.1141154766082764, + -0.1014382466673851, + -0.09575413167476654 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The yellow brush is already resting on the yellow towel, and the gripper is fully open (value=1.00082) with no motion or grip change in the segment. The subtask of releasing and retreating is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.36905357241630554, + 0.020450307056307793, + 0.09353221207857132, + -3.115549325942993, + -0.10164807736873627, + -0.09508535265922546 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The yellow brush is already resting on the yellow towel, and the gripper is fully open (value=1.00082) with no motion or grip change in the segment. The subtask of releasing and retreating is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3690637946128845, + 0.020231790840625763, + 0.0935298427939415, + -3.116983413696289, + -0.10185695439577103, + -0.09441625326871872 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow brush on top of the yellow towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow brush" + }, + { + "id": 2, + "subtask": "transport brush over towel" + }, + { + "id": 3, + "subtask": "release brush onto towel and retreat" + } + ], + "subtask_name": "release brush onto towel and retreat", + "subtask_reasoning": "The yellow brush is already resting on the yellow towel, and the gripper is fully open (value=1.00082) with no motion or grip change in the segment. The subtask of releasing and retreating is complete; no further action is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000867_ecot.json b/cot/chunk-0000/episode_0000867_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7c80555221182b2a46c1cb1677a0aedaa70f6bda --- /dev/null +++ b/cot/chunk-0000/episode_0000867_ecot.json @@ -0,0 +1,2087 @@ +{ + "task_name": "episode_0000867", + "episode_json": "json/chunk-0000/episode_0000867.json", + "video_path": "videos/chunk-0000/image_0/episode_0000867.mp4", + "instruction": "Take carrot off plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000867.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.4594593644142151, + "std": 0.20840241014957428, + "delta_total": -0.41974472999572754, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45946, std=0.20840, total_delta=-0.41974). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 26 + ], + [ + 2, + 27, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector from initial position toward the carrot on the plate while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"align and close gripper\", \"start\": 13, \"end\": 26, \"planning\": \"Fine-tune pose to align with carrot and close gripper to secure grasp, confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition carrot\", \"start\": 27, \"end\": 34, \"planning\": \"Lift carrot slightly and move it away from plate while maintaining grip; no further gripper motion observed, consistent with holding during transport.\"}\n ],\n \"global_plan\": \"Approach the carrot on the plate, close gripper to grasp it securely, then lift and reposition it away from the plate.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.41875) and image evidence at frame 26 confirms contact/grasp. Segment 2 has negligible gripper change (range=0.001), so no new grasp/release actions — only transport while holding. Subtask boundaries respect segment hints but are adjusted for natural manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 12, + "planning": "Move the end-effector from initial position toward the carrot on the plate while keeping gripper open." + }, + { + "id": 2, + "name": "align and close gripper", + "start": 13, + "end": 26, + "planning": "Fine-tune pose to align with carrot and close gripper to secure grasp, confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and reposition carrot", + "start": 27, + "end": 34, + "planning": "Lift carrot slightly and move it away from plate while maintaining grip; no further gripper motion observed, consistent with holding during transport." + } + ], + "global_plan": "Approach the carrot on the plate, close gripper to grasp it securely, then lift and reposition it away from the plate.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.41875) and image evidence at frame 26 confirms contact/grasp. Segment 2 has negligible gripper change (range=0.001), so no new grasp/release actions — only transport while holding. Subtask boundaries respect segment hints but are adjusted for natural manipulation phases." + } + }, + "episode_goal": "Pick up the carrot from the plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.316046804189682, + 0.012868892401456833, + 0.06535110622644424, + -3.1378843784332275, + -0.14822900295257568, + -0.14776146411895752 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above a box containing kitchen items, with the carrot visible on the left side. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.312583863735199, + 0.012693335302174091, + 0.05761072039604187, + 3.140599012374878, + -0.12416868656873703, + -0.14855535328388214 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above a box containing kitchen items, with the carrot visible on the left side. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 17 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30687403678894043, + 0.04078807681798935, + 0.05306653305888176, + -3.119659185409546, + -0.11825479567050934, + -0.1422298401594162 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above a box containing kitchen items, with the carrot visible on the left side. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 15 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3036242425441742, + 0.05939670652151108, + 0.06597280502319336, + -3.0620665550231934, + -0.12717501819133759, + -0.1253695785999298 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white lid": [ + 451, + 493, + 581, + 635 + ], + "metal bowl": [ + 111, + 448, + 338, + 684 + ], + "orange object": [ + 876, + 888, + 994, + 996 + ], + "cardboard box": [ + 8, + 215, + 758, + 973 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above a box containing kitchen items, with the carrot visible on the left side. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30190515518188477, + 0.07482219487428665, + 0.07568512111902237, + -3.028064012527466, + -0.14300651848316193, + -0.11832908540964127 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above a box containing kitchen items, with the carrot visible on the left side. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3033210337162018, + 0.10746170580387115, + 0.08632086962461472, + -2.9754207134246826, + -0.16034796833992004, + -0.06795910745859146 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above a box containing kitchen items, with the carrot visible on the left side. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30333414673805237, + 0.12604796886444092, + 0.08870112895965576, + -2.913243532180786, + -0.17850948870182037, + -0.05980588495731354 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30262142419815063, + 0.14308162033557892, + 0.08996646851301193, + -2.8729465007781982, + -0.20719756186008453, + -0.02573847956955433 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29600414633750916, + 0.15639318525791168, + 0.07707004249095917, + -2.8793528079986572, + -0.18313613533973694, + 0.007773286662995815 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 3 cm, keep gripper open; then move left 1 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870446443557739, + 0.16573135554790497, + 0.06315869837999344, + -2.875004291534424, + -0.1746395379304886, + 0.060190197080373764 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 111, + 447, + 338, + 685 + ], + "white lid": [ + 452, + 493, + 580, + 635 + ], + "orange object": [ + 876, + 888, + 994, + 996 + ], + "cardboard box": [ + 6, + 247, + 751, + 981 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28143510222435, + 0.17374621331691742, + 0.05390937998890877, + -2.8896636962890625, + -0.14992107450962067, + 0.06180012971162796 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820235788822174, + 0.18393008410930634, + 0.04934019595384598, + -2.88853120803833, + -0.11285175383090973, + 0.044181130826473236 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28139036893844604, + 0.18799632787704468, + 0.05041266977787018, + -2.860383987426758, + -0.10697512328624725, + 0.031207280233502388 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28041207790374756, + 0.19184845685958862, + 0.051392748951911926, + -2.8529319763183594, + -0.10832501947879791, + 0.03482911363244057 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27897152304649353, + 0.19469226896762848, + 0.04617294296622276, + -2.8784584999084473, + -0.10316534340381622, + 0.04284322261810303 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28099682927131653, + 0.19745267927646637, + 0.034640174359083176, + -2.9347293376922607, + -0.10920671373605728, + 0.04378543794155121 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 6 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835315763950348, + 0.19840186834335327, + 0.029388612136244774, + -2.954780340194702, + -0.13391579687595367, + 0.0515449196100235 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 10 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830457389354706, + 0.19919361174106598, + 0.02692757546901703, + -2.9947612285614014, + -0.14058949053287506, + 0.057433076202869415 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 11 cm, move up 4 cm, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803362309932709, + 0.20323409140110016, + 0.026551049202680588, + -3.0210764408111572, + -0.14048267900943756, + 0.04701798036694527 + ], + "gripper_value": 0.6239634156227112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The robot arm is positioned above the plate containing the carrot, with the gripper open and ready. No grasping has occurred yet as the gripper remains fully open. The next action should involve moving the gripper closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 11 cm, move up 5 cm, rotate counterclockwise 40 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27771827578544617, + 0.20711630582809448, + 0.026388278231024742, + -2.997066020965576, + -0.14578938484191895, + 0.04619225114583969 + ], + "gripper_value": 0.549187958240509 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746865451335907, + 0.20812316238880157, + 0.028493234887719154, + -2.9659204483032227, + -0.14407098293304443, + 0.037776727229356766 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 12 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.276227742433548, + 0.19952625036239624, + 0.043802447617053986, + -2.9078121185302734, + -0.09552957117557526, + 0.014536426402628422 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28743621706962585, + 0.18371419608592987, + 0.07055002450942993, + -2.8353629112243652, + -0.08062151074409485, + -0.00024708209093660116 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 4 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969402074813843, + 0.16110284626483917, + 0.09469010680913925, + -2.771080732345581, + -0.10384529829025269, + -0.026674695312976837 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 107, + 453, + 337, + 680 + ], + "white lid": [ + 450, + 492, + 581, + 635 + ], + "cardboard box": [ + 6, + 242, + 757, + 985 + ], + "sink": [ + 606, + 542, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 6 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.301349937915802, + 0.14143919944763184, + 0.09705755859613419, + -2.828369140625, + -0.09847385436296463, + -0.11905175447463989 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102143704891205, + 0.12398573011159897, + 0.09509965032339096, + -2.9236440658569336, + -0.03587789088487625, + -0.2807634770870209 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117105960845947, + 0.10340038686990738, + 0.0763617604970932, + -3.0208520889282227, + 0.02166205830872059, + -0.4589461386203766 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "align and close gripper", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3146801292896271, + 0.09158236533403397, + 0.07168084383010864, + -3.02662992477417, + 0.019421275705099106, + -0.6035807728767395 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3136965036392212, + 0.07864244282245636, + 0.06457100063562393, + -3.049445629119873, + 0.004472403321415186, + -0.69596266746521 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3124532997608185, + 0.07178613543510437, + 0.06542849540710449, + -3.103726625442505, + -0.009826530702412128, + -0.7565349340438843 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The gripper is positioned above the carrot on the plate, with segment-level evidence indicating a closing motion (gripper value decreasing). The gripper is currently open but actively narrowing around the carrot. The next action is to complete the closure to secure the grasp before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31872883439064026, + 0.067365363240242, + 0.05975116416811943, + -3.0969691276550293, + -0.03530089557170868, + -0.7592002153396606 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The carrot is currently grasped and elevated above the plate, indicating the lifting phase is underway. Since the gripper signal remains stable without closing motion, the focus is on repositioning the held object. The next action involves moving the carrot laterally away from the plate to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3226850926876068, + 0.05870490521192551, + 0.053831249475479126, + -3.0793888568878174, + -0.07241152971982956, + -0.7778298258781433 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The carrot is currently grasped and elevated above the plate, indicating the lifting phase is underway. Since the gripper signal remains stable without closing motion, the focus is on repositioning the held object. The next action involves moving the carrot laterally away from the plate to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194321393966675, + 0.047273844480514526, + 0.04179660975933075, + -3.100698232650757, + -0.1026427149772644, + -0.8119342923164368 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The carrot is currently grasped and elevated above the plate, indicating the lifting phase is underway. Since the gripper signal remains stable without closing motion, the focus is on repositioning the held object. The next action involves moving the carrot laterally away from the plate to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3100355863571167, + 0.03626861423254013, + 0.03060007281601429, + -3.122197389602661, + -0.10916540771722794, + -0.8116521835327148 + ], + "gripper_value": 0.5899012684822083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The carrot is currently grasped and elevated above the plate, indicating the lifting phase is underway. Since the gripper signal remains stable without closing motion, the focus is on repositioning the held object. The next action involves moving the carrot laterally away from the plate to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3005841374397278, + 0.032731134444475174, + 0.02170710824429989, + 3.1401784420013428, + -0.10824499279260635, + -0.7929794192314148 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 107, + 453, + 339, + 702 + ], + "cardboard box": [ + 7, + 217, + 753, + 980 + ], + "green cloth": [ + 160, + 310, + 347, + 477 + ], + "white lid": [ + 448, + 505, + 583, + 637 + ], + "orange object": [ + 875, + 888, + 994, + 996 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "align and close gripper" + }, + { + "id": 3, + "subtask": "lift and reposition carrot" + } + ], + "subtask_name": "lift and reposition carrot", + "subtask_reasoning": "The carrot is currently grasped and elevated above the plate, indicating the lifting phase is underway. Since the gripper signal remains stable without closing motion, the focus is on repositioning the held object. The next action involves moving the carrot laterally away from the plate to complete the removal." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 27, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000868_ecot.json b/cot/chunk-0000/episode_0000868_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ff13de679b120850a8de01dabaf8d873d6834229 --- /dev/null +++ b/cot/chunk-0000/episode_0000868_ecot.json @@ -0,0 +1,1278 @@ +{ + "task_name": "episode_0000868", + "episode_json": "json/chunk-0000/episode_0000868.json", + "video_path": "videos/chunk-0000/image_0/episode_0000868.mp4", + "instruction": "Zip zipper bag.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000868.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8235525488853455, + "std": 0.3696286678314209, + "delta_total": -0.6991658210754395, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.82355, std=0.36963, total_delta=-0.69917). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 111, + 111, + 111, + 111, + 111, + 11, + 11, + 11, + 11 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 10 + ], + [ + 3, + 11, + 15 + ], + [ + 4, + 16, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach zipper bag\", \"start\": 0, \"end\": 0, \"planning\": \"Robot positions end-effector near the zipper bag without gripper motion.\"},\n {\"id\": 2, \"name\": \"grasp zipper tab\", \"start\": 1, \"end\": 10, \"planning\": \"Gripper closes meaningfully while aligning with and securing the zipper tab for manipulation.\"},\n {\"id\": 3, \"name\": \"pull zipper closed\", \"start\": 11, \"end\": 15, \"planning\": \"Robot drags the gripper along the zipper track to close it, maintaining grip throughout motion.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 16, \"end\": 19, \"planning\": \"Gripper opens slightly and end-effector withdraws from the now-closed zipper bag.\"}\n ],\n \"global_plan\": \"Approach the zipper bag, grasp the zipper tab, pull it closed along the track, then release and retreat.\",\n \"notes\": \"Segment 1 has no gripper motion — correctly labeled as approach. Segments 2–4 show progressive gripper closure and motion consistent with grasping, pulling, and releasing. Frame coverage is contiguous and complete from 0 to 19.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach zipper bag", + "start": 0, + "end": 0, + "planning": "Robot positions end-effector near the zipper bag without gripper motion." + }, + { + "id": 2, + "name": "grasp zipper tab", + "start": 1, + "end": 10, + "planning": "Gripper closes meaningfully while aligning with and securing the zipper tab for manipulation." + }, + { + "id": 3, + "name": "pull zipper closed", + "start": 11, + "end": 15, + "planning": "Robot drags the gripper along the zipper track to close it, maintaining grip throughout motion." + }, + { + "id": 4, + "name": "release and retreat", + "start": 16, + "end": 19, + "planning": "Gripper opens slightly and end-effector withdraws from the now-closed zipper bag." + } + ], + "global_plan": "Approach the zipper bag, grasp the zipper tab, pull it closed along the track, then release and retreat.", + "notes": "Segment 1 has no gripper motion — correctly labeled as approach. Segments 2–4 show progressive gripper closure and motion consistent with grasping, pulling, and releasing. Frame coverage is contiguous and complete from 0 to 19." + } + }, + "episode_goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.13972289860248566, + -0.0007567164138890803, + 0.03586897999048233, + -3.1368465423583984, + -0.03512520715594292, + -0.0492120124399662 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach zipper bag", + "subtask_reasoning": "The robot is positioned near the black zipper bag with the gripper open and no contact made yet. The subtask of approaching the bag is in progress, with the next action likely being to move closer to the zipper pull for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 7 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 0 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 0 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.13462872803211212, + -0.002688136650249362, + 0.037344660609960556, + 3.1310999393463135, + 0.0010516393231227994, + -0.04925508424639702 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot is positioned near the black zipper bag with the gripper open and no contact made yet. The subtask of approaching the bag is in progress, with the next action likely being to move closer to the zipper pull for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.14409077167510986, + -0.006545359268784523, + 0.06398285925388336, + 3.0743277072906494, + 0.006176476366817951, + -0.06576646119356155 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot is positioned near the black zipper bag with the gripper open and no contact made yet. The subtask of approaching the bag is in progress, with the next action likely being to move closer to the zipper pull for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 2 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.15668249130249023, + -0.008025573566555977, + 0.09968853741884232, + 3.0238559246063232, + -0.017080415040254593, + -0.10094068944454193 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot is positioned near the black zipper bag with the gripper open and no contact made yet. The subtask of approaching the bag is in progress, with the next action likely being to move closer to the zipper pull for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 1 cm, close gripper; then move back 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.17038382589817047, + -0.010783129371702671, + 0.1234109103679657, + 2.990842819213867, + -0.048029616475105286, + -0.12038004398345947 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 890, + 720, + 996, + 911 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot is positioned near the black zipper bag with the gripper open and no contact made yet. The subtask of approaching the bag is in progress, with the next action likely being to move closer to the zipper pull for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, close gripper; then move back 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18619492650032043, + -0.016372526064515114, + 0.1287304162979126, + 2.9737515449523926, + -0.0594249963760376, + -0.12665826082229614 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move back 4 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.1979970932006836, + -0.023350102826952934, + 0.11491381376981735, + 2.991959571838379, + -0.06589306890964508, + -0.13508081436157227 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move back 4 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20103046298027039, + -0.017758216708898544, + 0.1047961488366127, + 2.9854929447174072, + -0.07899156957864761, + -0.12515215575695038 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 4 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20236638188362122, + -0.013848554342985153, + 0.09481808543205261, + 3.0007925033569336, + -0.08664336800575256, + -0.13352444767951965 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 4 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20210830867290497, + -0.015713144093751907, + 0.09047985821962357, + 3.006070137023926, + -0.09456311911344528, + -0.14241202175617218 + ], + "gripper_value": 0.8810233473777771 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20333945751190186, + -0.01459717471152544, + 0.08795218914747238, + 2.9977211952209473, + -0.08995015174150467, + -0.12684401869773865 + ], + "gripper_value": 0.58391273021698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp zipper tab", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 1, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20077918469905853, + -0.01416479516774416, + 0.08842698484659195, + 2.995170831680298, + -0.07667206972837448, + -0.12702113389968872 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull zipper closed", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.1951463371515274, + -0.014490344561636448, + 0.08806369453668594, + 2.994579792022705, + -0.07582419365644455, + -0.12117063254117966 + ], + "gripper_value": 0.254768431186676 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull zipper closed", + "subtask_reasoning": "The robot has approached the black zipper bag and is positioned near the zipper pull. The gripper is currently open and not yet in contact with the zipper tab. The next action should be to close the gripper to grasp the zipper pull." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 8 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.18254560232162476, + -0.013094563968479633, + 0.08005249500274658, + 3.0172157287597656, + -0.07328169792890549, + -0.1086728423833847 + ], + "gripper_value": 0.2248985916376114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull zipper closed", + "subtask_reasoning": "The robot is currently holding the zipper pull of the black bag, having completed the approach and grasp phases. The gripper is closed, and the arm is positioned to move the zipper along its track. The next action is to slide the gripper upward to close the bag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.16193029284477234, + -0.010442541912198067, + 0.055617805570364, + 3.0591073036193848, + -0.03416472300887108, + -0.11407364904880524 + ], + "gripper_value": 0.19318951666355133 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull zipper closed", + "subtask_reasoning": "The robot is currently holding the zipper pull of the black bag, having completed the approach and grasp phases. The gripper is closed, and the arm is positioned to move the zipper along its track. The next action is to slide the gripper upward to close the bag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.15964588522911072, + -0.006175501737743616, + 0.03292376920580864, + 3.114405632019043, + -0.08233503252267838, + -0.11066294461488724 + ], + "gripper_value": 0.16920356452465057 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 891, + 720, + 996, + 910 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "pull zipper closed", + "subtask_reasoning": "The robot is currently holding the zipper pull of the black bag, having completed the approach and grasp phases. The gripper is closed, and the arm is positioned to move the zipper along its track. The next action is to slide the gripper upward to close the bag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.1611739695072174, + -0.004607394803315401, + 0.00791572779417038, + -3.1228556632995605, + -0.12023033946752548, + -0.1113884299993515 + ], + "gripper_value": 0.1845952719449997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the zipper pull of the black bag, having completed the approach and grasp phases. The gripper is closed, and the arm is positioned to move the zipper along its track. The next action is to slide the gripper upward to close the bag." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.1679428517818451, + -0.0008124383166432381, + -0.009764517657458782, + -3.0902764797210693, + -0.16807055473327637, + -0.1317719966173172 + ], + "gripper_value": 0.19087372720241547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed closing the zipper and is now in the release and retreat phase. The gripper is slightly open (0.19), indicating partial release of the zipper pull. The end-effector is positioned near the top of the bag, consistent with having just finished pulling the zipper closed. The next action should be to fully open the gripper and move the arm away from the bag to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.17243273556232452, + 0.0012679820647463202, + -0.01606166735291481, + -3.0807433128356934, + -0.21642754971981049, + -0.12653914093971252 + ], + "gripper_value": 0.1943538933992386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed closing the zipper and is now in the release and retreat phase. The gripper is slightly open (0.19), indicating partial release of the zipper pull. The end-effector is positioned near the top of the bag, consistent with having just finished pulling the zipper closed. The next action should be to fully open the gripper and move the arm away from the bag to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.16931204497814178, + 0.001185763394460082, + -0.012151694856584072, + -3.1279048919677734, + -0.16546280682086945, + -0.12146484851837158 + ], + "gripper_value": 0.29359033703804016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the zipper pull of the black bag and slide it upward to close the bag." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach zipper bag" + }, + { + "id": 2, + "subtask": "grasp zipper tab" + }, + { + "id": 3, + "subtask": "pull zipper closed" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has completed closing the zipper and is now in the release and retreat phase. The gripper is slightly open (0.19), indicating partial release of the zipper pull. The end-effector is positioned near the top of the bag, consistent with having just finished pulling the zipper closed. The next action should be to fully open the gripper and move the arm away from the bag to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000869_ecot.json b/cot/chunk-0000/episode_0000869_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..562450594cdcd85797bc3029bf94b75814781d74 --- /dev/null +++ b/cot/chunk-0000/episode_0000869_ecot.json @@ -0,0 +1,862 @@ +{ + "task_name": "episode_0000869", + "episode_json": "json/chunk-0000/episode_0000869.json", + "video_path": "videos/chunk-0000/image_0/episode_0000869.mp4", + "instruction": "End effector transition from object to pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000869.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan handle\", \"start\": 0, \"end\": 6, \"planning\": \"Move end effector toward the red pan handle while maintaining open gripper state.\"},\n {\"id\": 2, \"name\": \"make contact with pan\", \"start\": 7, \"end\": 14, \"planning\": \"Establish physical contact with the pan and adjust position slightly without grasping or lifting.\"}\n ],\n \"global_plan\": \"Transition end effector from initial position to make contact with the pan on the stove, without any grasping action as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~1.0 (fully open) across all frames; no grasp, lift, or place actions occur. Motion is purely positional adjustment and contact establishment.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan handle", + "start": 0, + "end": 6, + "planning": "Move end effector toward the red pan handle while maintaining open gripper state." + }, + { + "id": 2, + "name": "make contact with pan", + "start": 7, + "end": 14, + "planning": "Establish physical contact with the pan and adjust position slightly without grasping or lifting." + } + ], + "global_plan": "Transition end effector from initial position to make contact with the pan on the stove, without any grasping action as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~1.0 (fully open) across all frames; no grasp, lift, or place actions occur. Motion is purely positional adjustment and contact establishment." + } + }, + "episode_goal": "Move the end effector from the object to the pot or pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35657569766044617, + -0.11581466346979141, + 0.13125771284103394, + -3.1014914512634277, + -0.20329974591732025, + -0.03188381344079971 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The end effector is positioned near the stove with the gripper fully open, initiating movement toward the red pan. No contact has been made yet as the arm is still approaching the target. The next action is to continue moving the end effector closer to the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, keep gripper open; then move left 2 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3541513979434967, + -0.11431209743022919, + 0.1186036765575409, + -3.089071035385132, + -0.16822052001953125, + -0.03582274168729782 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The end effector is positioned near the stove with the gripper fully open, initiating movement toward the red pan. No contact has been made yet as the arm is still approaching the target. The next action is to continue moving the end effector closer to the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562324643135071, + -0.10566909611225128, + 0.11491362750530243, + -3.0727295875549316, + -0.1685764193534851, + -0.06253758817911148 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The end effector is positioned near the stove with the gripper fully open, initiating movement toward the red pan. No contact has been made yet as the arm is still approaching the target. The next action is to continue moving the end effector closer to the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open; then move left 2 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3586096465587616, + -0.09451780468225479, + 0.10972721874713898, + -3.077174663543701, + -0.1683923304080963, + -0.0732470154762268 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The end effector is positioned near the stove, with the pan and its handle visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper remains fully open, indicating no grasping has occurred. The next action should involve moving the end effector closer to the pan handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35792380571365356, + -0.0880659744143486, + 0.1090836375951767, + -3.0697929859161377, + -0.15435971319675446, + -0.07334748655557632 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow banana": [ + 719, + 331, + 802, + 454 + ], + "pot handle": [ + 843, + 397, + 992, + 527 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The end effector is positioned near the stove, with the pan and its handle visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper remains fully open, indicating no grasping has occurred. The next action should involve moving the end effector closer to the pan handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542618155479431, + -0.08433989435434341, + 0.11432939767837524, + -3.0551958084106445, + -0.14426067471504211, + -0.06824719905853271 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The end effector is positioned near the stove, with the pan and its handle visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper remains fully open, indicating no grasping has occurred. The next action should involve moving the end effector closer to the pan handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35240912437438965, + -0.08061140030622482, + 0.12659253180027008, + -3.0446817874908447, + -0.18703804910182953, + -0.08757523447275162 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "approach pan handle", + "subtask_reasoning": "The end effector is positioned near the stove, with the pan and its handle visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper remains fully open, indicating no grasping has occurred. The next action should involve moving the end effector closer to the pan handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35397419333457947, + -0.07187207788228989, + 0.11336109042167664, + -3.041031837463379, + -0.20801042020320892, + -0.10410459339618683 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned near the stove, with the pan and its handle visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper remains fully open, indicating no grasping has occurred. The next action should involve moving the end effector closer to the pan handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35660848021507263, + -0.0630752220749855, + 0.0998261496424675, + -3.0439345836639404, + -0.24866127967834473, + -0.11228577792644501 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned near the stove, with the pan and its handle visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper remains fully open, indicating no grasping has occurred. The next action should involve moving the end effector closer to the pan handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555999994277954, + -0.05804723501205444, + 0.08661925792694092, + -3.045910596847534, + -0.27717894315719604, + -0.11064198613166809 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned near the stove, with the pan and its handle visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper remains fully open, indicating no grasping has occurred. The next action should involve moving the end effector closer to the pan handle to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556136190891266, + -0.05470241978764534, + 0.07645351439714432, + -3.041860818862915, + -0.309827595949173, + -0.11676007509231567 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned directly above the red pan on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasping action is occurring. The next step is to lower the end effector slightly to establish physical contact with the pan's surface or handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3565182089805603, + -0.05376685410737991, + 0.07105077058076859, + -3.0573251247406006, + -0.3424874544143677, + -0.11208730190992355 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned directly above the red pan on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasping action is occurring. The next step is to lower the end effector slightly to establish physical contact with the pan's surface or handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583000898361206, + -0.056035395711660385, + 0.06502500921487808, + -3.0834341049194336, + -0.38741084933280945, + -0.09975845366716385 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 84, + 3, + 223, + 174 + ], + "yellow banana": [ + 721, + 347, + 801, + 453 + ], + "pot handle": [ + 844, + 400, + 992, + 527 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned directly above the red pan on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasping action is occurring. The next step is to lower the end effector slightly to establish physical contact with the pan's surface or handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36489248275756836, + -0.056799281388521194, + 0.054242510348558426, + -3.1090266704559326, + -0.405487984418869, + -0.09102362394332886 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned directly above the red pan on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasping action is occurring. The next step is to lower the end effector slightly to establish physical contact with the pan's surface or handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36821138858795166, + -0.05549945682287216, + 0.050926003605127335, + -3.1156234741210938, + -0.41580140590667725, + -0.0919056087732315 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector from the object to the pot or pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan handle" + }, + { + "id": 2, + "subtask": "make contact with pan" + } + ], + "subtask_name": "make contact with pan", + "subtask_reasoning": "The end effector is positioned directly above the red pan on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating no grasping action is occurring. The next step is to lower the end effector slightly to establish physical contact with the pan's surface or handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000870_ecot.json b/cot/chunk-0000/episode_0000870_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b48d95e4d654f26193613ef32fb810dd8590b0b3 --- /dev/null +++ b/cot/chunk-0000/episode_0000870_ecot.json @@ -0,0 +1,868 @@ +{ + "task_name": "episode_0000870", + "episode_json": "json/chunk-0000/episode_0000870.json", + "video_path": "videos/chunk-0000/image_0/episode_0000870.mp4", + "instruction": "End effector reaching knife.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000870.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 10, \"planning\": \"Move end effector toward the yellow-handled knife on the stovetop while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"align and contact knife\", \"start\": 11, \"end\": 14, \"planning\": \"Fine-tune position and orientation to make contact with the knife handle without grasping.\"}\n ],\n \"global_plan\": \"Reach toward the knife on the stovetop by first approaching from above, then aligning and making contact with the handle — no grasping occurs as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~1.0 (fully open) across all frames; no closing motion detected. Segment-level evidence confirms no grasp attempt. Motion is purely positional/orientational adjustment toward target object.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 10, + "planning": "Move end effector toward the yellow-handled knife on the stovetop while maintaining open gripper." + }, + { + "id": 2, + "name": "align and contact knife", + "start": 11, + "end": 14, + "planning": "Fine-tune position and orientation to make contact with the knife handle without grasping." + } + ], + "global_plan": "Reach toward the knife on the stovetop by first approaching from above, then aligning and making contact with the handle — no grasping occurs as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~1.0 (fully open) across all frames; no closing motion detected. Segment-level evidence confirms no grasp attempt. Motion is purely positional/orientational adjustment toward target object." + } + }, + "episode_goal": "Move the end effector to the yellow knife on the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645883560180664, + 0.09318985044956207, + 0.13336633145809174, + -3.036679744720459, + -0.19462870061397552, + -0.06463531404733658 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the yellow knife visible below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the knife handle while maintaining alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, move down 5 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2602899968624115, + 0.09129045158624649, + 0.1255062371492386, + -3.0486440658569336, + -0.16980017721652985, + -0.05653439834713936 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the yellow knife visible below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the knife handle while maintaining alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 14 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2518756091594696, + 0.07570667564868927, + 0.11504889279603958, + -3.057999849319458, + -0.15164825320243835, + -0.022846003994345665 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the yellow knife visible below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the knife handle while maintaining alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24319803714752197, + 0.06091146916151047, + 0.11555890738964081, + -3.0541415214538574, + -0.1599654257297516, + 0.007243611384183168 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the yellow knife visible below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the knife handle while maintaining alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 11 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23480923473834991, + 0.0459684394299984, + 0.11246662586927414, + -3.0388455390930176, + -0.16126523911952972, + 0.046011071652173996 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The end effector is positioned above the stovetop, with the yellow knife visible below. No contact has been made yet, and the gripper remains fully open. The next action is to lower the end effector toward the knife handle while maintaining alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22966420650482178, + 0.025326257571578026, + 0.10516401380300522, + -3.0351502895355225, + -0.15106931328773499, + 0.1061466708779335 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot end effector is positioned above the stovetop, approaching the yellow knife handle from a vertical angle. No contact has been made yet, and the gripper remains fully open. The next action is to continue descending and aligning the end effector toward the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2307887226343155, + 0.010081399232149124, + 0.1054658591747284, + -3.0523335933685303, + -0.16109716892242432, + 0.13463784754276276 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 617, + 274, + 874, + 538 + ], + "yellow toy food": [ + 543, + 551, + 612, + 708 + ], + "oven handle": [ + 259, + 711, + 645, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot end effector is positioned above the stovetop, approaching the yellow knife handle from a vertical angle. No contact has been made yet, and the gripper remains fully open. The next action is to continue descending and aligning the end effector toward the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22783005237579346, + -0.013446315191686153, + 0.10144151747226715, + -3.075321674346924, + -0.16425509750843048, + 0.1638670116662979 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot end effector is positioned above the stovetop, approaching the yellow knife handle from a vertical angle. No contact has been made yet, and the gripper remains fully open. The next action is to continue descending and aligning the end effector toward the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23019090294837952, + -0.032278187572956085, + 0.10097359120845795, + -3.101285934448242, + -0.1892940104007721, + 0.17354777455329895 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot end effector is positioned above the stovetop, approaching the yellow knife handle from a vertical angle. No contact has been made yet, and the gripper remains fully open. The next action is to continue descending and aligning the end effector toward the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23485256731510162, + -0.03658834099769592, + 0.09289851784706116, + -3.112607479095459, + -0.19025394320487976, + 0.19861765205860138 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot end effector is positioned above the stovetop, approaching the yellow knife handle from a vertical angle. No contact has been made yet, and the gripper remains fully open. The next action is to continue descending and aligning the end effector toward the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24405734241008759, + -0.04299052804708481, + 0.07839463651180267, + -3.1304619312286377, + -0.19490037858486176, + 0.21518871188163757 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot end effector is positioned above the stovetop, approaching the yellow knife handle from a vertical angle. No contact has been made yet, and the gripper remains fully open. The next action is to continue descending and aligning the end effector toward the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24829930067062378, + -0.0452360138297081, + 0.060858167707920074, + 3.126439332962036, + -0.22697769105434418, + 0.20684391260147095 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The robot end effector is positioned above the stovetop, approaching the yellow knife handle from a vertical angle. No contact has been made yet, and the gripper remains fully open. The next action is to continue descending and aligning the end effector toward the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24251200258731842, + -0.03964351490139961, + 0.04904657602310181, + 3.1144347190856934, + -0.2399037927389145, + 0.21183714270591736 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The end effector is positioned directly above the yellow knife handle on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating the robot is currently aligning for contact. The next action is to lower the end effector to make physical contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23609454929828644, + -0.03736522048711777, + 0.03982439637184143, + 3.1073853969573975, + -0.2517809569835663, + 0.22656819224357605 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The end effector is positioned directly above the yellow knife handle on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating the robot is currently aligning for contact. The next action is to lower the end effector to make physical contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23001661896705627, + -0.03608250245451927, + 0.03225220367312431, + 3.1016244888305664, + -0.2544030547142029, + 0.244089275598526 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 617, + 275, + 874, + 542 + ], + "toy stove": [ + 150, + 220, + 952, + 931 + ], + "oven handle": [ + 259, + 708, + 647, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the yellow knife on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "align and contact knife" + } + ], + "subtask_name": "align and contact knife", + "subtask_reasoning": "The end effector is positioned directly above the yellow knife handle on the stovetop, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating the robot is currently aligning for contact. The next action is to lower the end effector to make physical contact with the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000872_ecot.json b/cot/chunk-0000/episode_0000872_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..41bb6d04b33fb7d9653f6d51dc02a6277f76b8a7 --- /dev/null +++ b/cot/chunk-0000/episode_0000872_ecot.json @@ -0,0 +1,1573 @@ +{ + "task_name": "episode_0000872", + "episode_json": "json/chunk-0000/episode_0000872.json", + "video_path": "videos/chunk-0000/image_0/episode_0000872.mp4", + "instruction": "Moved the can to the near silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000872.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 5.960464477539063e-08, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 10 + ], + [ + 3, + 11, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach can\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the can on the left side of the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge can\", \"start\": 7, \"end\": 10, \"planning\": \"Establish contact with the can and begin nudging it toward the near silver pot.\"},\n {\"id\": 3, \"name\": \"slide can to target position\", \"start\": 11, \"end\": 26, \"planning\": \"Continue sliding the can along the stovetop surface until it reaches the vicinity of the near silver pot.\"}\n ],\n \"global_plan\": \"The robot pushes the can from its initial position on the left to a location adjacent to the near silver pot using continuous contact motion without grasping.\",\n \"notes\": \"Gripper remains fully open throughout; all manipulation is achieved via pushing/sliding contact. No lift or grasp occurs.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach can", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the can on the left side of the stovetop without grasping." + }, + { + "id": 2, + "name": "make contact and nudge can", + "start": 7, + "end": 10, + "planning": "Establish contact with the can and begin nudging it toward the near silver pot." + }, + { + "id": 3, + "name": "slide can to target position", + "start": 11, + "end": 26, + "planning": "Continue sliding the can along the stovetop surface until it reaches the vicinity of the near silver pot." + } + ], + "global_plan": "The robot pushes the can from its initial position on the left to a location adjacent to the near silver pot using continuous contact motion without grasping.", + "notes": "Gripper remains fully open throughout; all manipulation is achieved via pushing/sliding contact. No lift or grasp occurs." + } + }, + "episode_goal": "Move the can to the near silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3113441467285156, + -0.05980699881911278, + 0.1101212128996849, + -2.999133586883545, + -0.33442696928977966, + 0.019768433645367622 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the can on the left side. No contact or movement toward the can has occurred yet. The next action should be to move the end-effector closer to the can to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 15 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073669373989105, + -0.057887621223926544, + 0.10104063898324966, + -2.986633777618408, + -0.301432728767395, + 0.01867009326815605 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the can on the left side. No contact or movement toward the can has occurred yet. The next action should be to move the end-effector closer to the can to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 15 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043711185455322, + -0.03406205773353577, + 0.09911765158176422, + -2.9545459747314453, + -0.2570025622844696, + 0.06136580929160118 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the stove with the gripper open, approaching the can on the left side. No contact or movement toward the can has occurred yet. The next action should be to move the end-effector closer to the can to initiate pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 13 cm, move up 3 cm, keep gripper open; then move back 4 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944497764110565, + 0.00025205599376931787, + 0.09934720396995544, + -2.926699161529541, + -0.2497468888759613, + 0.08928299695253372 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the stovetop, with the target can located to the left. No contact has been made yet as the gripper remains open and the arm is elevated. The next action is to lower the end-effector to establish contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 9 cm, move up 3 cm, keep gripper open; then move back 4 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 3 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805211842060089, + 0.030240749940276146, + 0.11358437687158585, + -2.914965867996216, + -0.2812251150608063, + 0.1342136710882187 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the stovetop, with the target can located to the left. No contact has been made yet as the gripper remains open and the arm is elevated. The next action is to lower the end-effector to establish contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 6 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 4 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25979214906692505, + 0.0582050159573555, + 0.11733939498662949, + -2.9105920791625977, + -0.2655591070652008, + 0.10506216436624527 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the stovetop, with the target can located to the left. No contact has been made yet as the gripper remains open and the arm is elevated. The next action is to lower the end-effector to establish contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 4 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 4 cm, move left 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2351546436548233, + 0.08060738444328308, + 0.12984521687030792, + -2.9828600883483887, + -0.21199209988117218, + 0.0574980303645134 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "approach can", + "subtask_reasoning": "The robot is positioned above the stovetop, with the target can located to the left. No contact has been made yet as the gripper remains open and the arm is elevated. The next action is to lower the end-effector to establish contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, keep gripper open; then move back 4 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20761863887310028, + 0.09498745948076248, + 0.12647078931331635, + -2.990319013595581, + -0.18102796375751495, + 0.0771569162607193 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "make contact and nudge can", + "subtask_reasoning": "The robot is positioned above the stovetop, with the target can located to the left. No contact has been made yet as the gripper remains open and the arm is elevated. The next action is to lower the end-effector to establish contact with the can for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 5 cm, keep gripper open; then move forward 5 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.1859554797410965, + 0.10431072860956192, + 0.11233647912740707, + -2.958988666534424, + -0.11307773739099503, + 0.09422432631254196 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 652, + 560, + 921, + 968 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "make contact and nudge can", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 4 cm, keep gripper open; then move forward 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.17232485115528107, + 0.1075110137462616, + 0.09682189673185349, + -2.940807342529297, + -0.09410359710454941, + 0.11001337319612503 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "make contact and nudge can", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.16275274753570557, + 0.10439891368150711, + 0.08069643378257751, + -2.920224189758301, + -0.09739438444375992, + 0.144927978515625 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 652, + 560, + 921, + 968 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "make contact and nudge can", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move forward 9 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.16978128254413605, + 0.110255166888237, + 0.07500334084033966, + -2.916605234146118, + -0.1285088062286377, + 0.13028350472450256 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18082985281944275, + 0.11417090892791748, + 0.07662109285593033, + -2.9449048042297363, + -0.1522003412246704, + 0.05658163130283356 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2026928961277008, + 0.12768128514289856, + 0.08904524147510529, + -2.977309465408325, + -0.15068964660167694, + 0.025112304836511612 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2079678475856781, + 0.12932069599628448, + 0.0860292837023735, + -2.9770445823669434, + -0.13774210214614868, + 0.06236013397574425 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21249143779277802, + 0.12859708070755005, + 0.08716991543769836, + -2.948770046234131, + -0.15330806374549866, + 0.0742192268371582 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21293114125728607, + 0.12287141382694244, + 0.0814799889922142, + -2.946119546890259, + -0.14587680995464325, + 0.04622669145464897 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21836605668067932, + 0.11821240186691284, + 0.07909165322780609, + -2.962251901626587, + -0.161369189620018, + 0.027225419878959656 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot has approached the can and is now in contact with it, as indicated by the gripper being open and positioned near the can. The next action is to nudge the can towards the near silver pot using continuous contact motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22689655423164368, + 0.11273577809333801, + 0.07497898489236832, + -2.9714252948760986, + -0.16807129979133606, + 0.01479188259691 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2445799708366394, + 0.10704421997070312, + 0.0760602280497551, + -2.975120782852173, + -0.19545878469944, + 0.028668222948908806 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2584739029407501, + 0.1007663905620575, + 0.073307104408741, + -2.959286689758301, + -0.1952839195728302, + 0.0626923143863678 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 651, + 561, + 922, + 969 + ] + } + } + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27104830741882324, + 0.09945254772901535, + 0.07500142604112625, + -2.958667278289795, + -0.2073163241147995, + 0.09417098760604858 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2750735878944397, + 0.09887102246284485, + 0.07588730752468109, + -2.956925630569458, + -0.21495284140110016, + 0.11089804023504257 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738693058490753, + 0.10022171586751938, + 0.07568489760160446, + -2.966747999191284, + -0.2150806188583374, + 0.1222706288099289 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26172375679016113, + 0.10800045728683472, + 0.08625363558530807, + -2.9775259494781494, + -0.2360720932483673, + 0.1399758756160736 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2451215237379074, + 0.11603877693414688, + 0.0872073620557785, + -2.9780900478363037, + -0.1870143562555313, + 0.1409316211938858 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2298562228679657, + 0.1120934709906578, + 0.09068508446216583, + -2.9797933101654053, + -0.15658290684223175, + 0.13098202645778656 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the can to the near silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach can" + }, + { + "id": 2, + "subtask": "make contact and nudge can" + }, + { + "id": 3, + "subtask": "slide can to target position" + } + ], + "subtask_name": "slide can to target position", + "subtask_reasoning": "The robot is in contact with the can on the countertop, having already nudged it from its initial position. The gripper remains open with no grasp evidence, indicating continued pushing motion. The next action is to continue sliding the can toward the near silver pot until it reaches the target adjacent position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000873_ecot.json b/cot/chunk-0000/episode_0000873_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..77318259068de12619d62fc02953834b7c85c534 --- /dev/null +++ b/cot/chunk-0000/episode_0000873_ecot.json @@ -0,0 +1,3055 @@ +{ + "task_name": "episode_0000873", + "episode_json": "json/chunk-0000/episode_0000873.json", + "video_path": "videos/chunk-0000/image_0/episode_0000873.mp4", + "instruction": "Unfold the cloth from bottom to top.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000873.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9517073035240173, + "std": 0.4497617483139038, + "delta_total": -0.00874185562133789, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95171, std=0.44976, total_delta=-0.00874). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 20, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 243, + 243 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 19 + ], + [ + 3, + 20, + 34 + ], + [ + 4, + 35, + 42 + ], + [ + 5, + 43, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth bottom edge\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper down toward the bottom fold of the cloth without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp bottom edge of cloth\", \"start\": 7, \"end\": 19, \"planning\": \"Close gripper to securely grasp the bottom edge of the cloth as evidenced by significant gripper closure and stable pose.\"},\n {\"id\": 3, \"name\": \"unfold cloth upward\", \"start\": 20, \"end\": 34, \"planning\": \"Lift and drag the grasped bottom edge upward to unfold the cloth across the table surface.\"},\n {\"id\": 4, \"name\": \"release cloth after unfolding\", \"start\": 35, \"end\": 42, \"planning\": \"Open gripper to release the cloth once it is fully unfolded, confirmed by increasing gripper value and visual spread of cloth.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 43, \"end\": 44, \"planning\": \"Move gripper away from the now-unfolded cloth to complete the task, with gripper fully open and no further interaction.\"}\n ],\n \"global_plan\": \"Unfold the green cloth by first approaching and grasping its bottom edge, then lifting and dragging it upward to flatten it on the table, finally releasing and retreating.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has clear gripper closure (delta=-0.36) and image confirms grasp. Segment 4 shows gripper opening (delta=+0.41) consistent with release. Segment 5 continues opening and retreat. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth bottom edge", + "start": 0, + "end": 6, + "planning": "Move gripper down toward the bottom fold of the cloth without closing, preparing for contact." + }, + { + "id": 2, + "name": "grasp bottom edge of cloth", + "start": 7, + "end": 19, + "planning": "Close gripper to securely grasp the bottom edge of the cloth as evidenced by significant gripper closure and stable pose." + }, + { + "id": 3, + "name": "unfold cloth upward", + "start": 20, + "end": 34, + "planning": "Lift and drag the grasped bottom edge upward to unfold the cloth across the table surface." + }, + { + "id": 4, + "name": "release cloth after unfolding", + "start": 35, + "end": 42, + "planning": "Open gripper to release the cloth once it is fully unfolded, confirmed by increasing gripper value and visual spread of cloth." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 43, + "end": 44, + "planning": "Move gripper away from the now-unfolded cloth to complete the task, with gripper fully open and no further interaction." + } + ], + "global_plan": "Unfold the green cloth by first approaching and grasping its bottom edge, then lifting and dragging it upward to flatten it on the table, finally releasing and retreating.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has clear gripper closure (delta=-0.36) and image confirms grasp. Segment 4 shows gripper opening (delta=+0.41) consistent with release. Segment 5 continues opening and retreat. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047000765800476, + -0.02024712972342968, + 0.15168921649456024, + -3.0531070232391357, + -0.38539788126945496, + -0.5634557604789734 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the gripper downward to approach the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30347248911857605, + -0.020245246589183807, + 0.1424412578344345, + -3.0699925422668457, + -0.3592739701271057, + -0.5587367415428162 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the gripper downward to approach the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058291971683502, + -0.026622029021382332, + 0.13237786293029785, + -3.0699617862701416, + -0.34416523575782776, + -0.6072793006896973 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the gripper downward to approach the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30817222595214844, + -0.030578462406992912, + 0.12226618826389313, + -3.0887980461120605, + -0.3354796767234802, + -0.6345329284667969 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 153, + 495, + 814, + 845 + ], + "gas stove": [ + 804, + 184, + 994, + 416 + ], + "wooden table": [ + 3, + 170, + 996, + 995 + ], + "red object": [ + 3, + 421, + 102, + 557 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3096831440925598, + -0.034709855914115906, + 0.1183004081249237, + -3.0763607025146484, + -0.3266756236553192, + -0.6605350971221924 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3104795515537262, + -0.03668207675218582, + 0.10986873507499695, + -3.085433006286621, + -0.3073572516441345, + -0.6876513361930847 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30563080310821533, + -0.04203080013394356, + 0.10074746608734131, + -3.1286072731018066, + -0.28375816345214844, + -0.7479678988456726 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth bottom edge", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30426013469696045, + -0.04598795622587204, + 0.09162779897451401, + 3.117410898208618, + -0.2705610990524292, + -0.7753244638442993 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.303615540266037, + -0.04768131673336029, + 0.0835227370262146, + 3.043872117996216, + -0.283515989780426, + -0.8002722263336182 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3034583628177643, + -0.049450285732746124, + 0.07768868654966354, + 2.997772455215454, + -0.29343175888061523, + -0.8111241459846497 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3034459948539734, + -0.050061650574207306, + 0.07543300092220306, + 2.992856025695801, + -0.2927396297454834, + -0.823825478553772 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3010922074317932, + -0.05358998849987984, + 0.0687958225607872, + 2.9566307067871094, + -0.29103249311447144, + -0.8307616710662842 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 151, + 494, + 815, + 846 + ], + "white container": [ + 541, + 101, + 850, + 351 + ], + "gas stove": [ + 804, + 186, + 994, + 414 + ], + "red object": [ + 3, + 422, + 102, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3007175922393799, + -0.05531371012330055, + 0.06572923809289932, + 2.944485902786255, + -0.29504573345184326, + -0.8419284224510193 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact made yet. The subtask of approaching the bottom edge is in progress, with no prior actions completed. The next action should be to move the gripper downward and forward to make contact with the bottom edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30062130093574524, + -0.05675492435693741, + 0.06609085202217102, + 2.942380905151367, + -0.3015848994255066, + -0.850683867931366 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29912739992141724, + -0.05728515237569809, + 0.06560318171977997, + 2.9374473094940186, + -0.30167850852012634, + -0.8591964840888977 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.29616689682006836, + -0.05741018056869507, + 0.06416212767362595, + 2.9279465675354004, + -0.29860132932662964, + -0.866786003112793 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944190800189972, + -0.05770157277584076, + 0.06329440325498581, + 2.9243857860565186, + -0.2979866564273834, + -0.8774233460426331 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 3 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29325756430625916, + -0.05748026445508003, + 0.0616307333111763, + 2.9233813285827637, + -0.29136139154434204, + -0.8758792281150818 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 5 cm, move left 5 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29285159707069397, + -0.05683419853448868, + 0.05672575533390045, + 2.9156076908111572, + -0.27545613050460815, + -0.8651113510131836 + ], + "gripper_value": 0.930367648601532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915870249271393, + -0.0571095235645771, + 0.05496615916490555, + 2.914459228515625, + -0.27303677797317505, + -0.867661714553833 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp bottom edge of cloth", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move left 8 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916077673435211, + -0.05699916556477547, + 0.05461452156305313, + 2.914280652999878, + -0.2719193994998932, + -0.860825777053833 + ], + "gripper_value": 0.34207403659820557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 10 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2906551957130432, + -0.05782408267259598, + 0.05537090077996254, + 2.907036781311035, + -0.27326348423957825, + -0.8616531491279602 + ], + "gripper_value": 0.12351571768522263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 13 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2886287569999695, + -0.05884620174765587, + 0.05595497786998749, + 2.890989065170288, + -0.27315470576286316, + -0.8623001575469971 + ], + "gripper_value": 0.058401256799697876 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 15 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29320457577705383, + -0.055834345519542694, + 0.06270932406187057, + 2.8891713619232178, + -0.28463250398635864, + -0.8413733839988708 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 16 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30040931701660156, + -0.048602644354104996, + 0.0749078318476677, + 2.900240182876587, + -0.3080001473426819, + -0.8119879364967346 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white container": [ + 538, + 102, + 852, + 350 + ], + "green cloth": [ + 150, + 496, + 817, + 847 + ], + "gas stove": [ + 804, + 185, + 994, + 413 + ], + "red object": [ + 3, + 421, + 102, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 17 cm, move down 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122504651546478, + -0.03624340891838074, + 0.08420354872941971, + 2.920973300933838, + -0.3299237787723541, + -0.7679665684700012 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 16 cm, move down 2 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246447741985321, + -0.025939879938960075, + 0.09147506952285767, + 2.948234796524048, + -0.33796441555023193, + -0.7270280122756958 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot is positioned above the bottom edge of the green cloth, with the gripper open and aligned for contact. The approach phase is complete, and the next action is to close the gripper to grasp the cloth edge securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 15 cm, move down 3 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457830846309662, + -0.009830689989030361, + 0.08031317591667175, + 2.95131516456604, + -0.32080838084220886, + -0.6393980979919434 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 14 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642672598361969, + 0.002870766445994377, + 0.07224111258983612, + 2.975177526473999, + -0.30328914523124695, + -0.576360285282135 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 12 cm, move down 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3831747770309448, + 0.02507910504937172, + 0.06517720222473145, + 2.9995226860046387, + -0.27969926595687866, + -0.5071425437927246 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 10 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3978482782840729, + 0.0427720732986927, + 0.06235957518219948, + 3.019078016281128, + -0.26421040296554565, + -0.45357465744018555 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4134039878845215, + 0.06742561608552933, + 0.06391370296478271, + 3.0348546504974365, + -0.2602906823158264, + -0.3804871141910553 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, tilt left 10 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.42748889327049255, + 0.0913877785205841, + 0.06199409067630768, + 3.0352694988250732, + -0.2508484125137329, + -0.306275337934494 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 160, + 317, + 811, + 845 + ], + "white container": [ + 476, + 103, + 852, + 350 + ], + "wooden table": [ + 3, + 174, + 996, + 994 + ], + "gas stove": [ + 804, + 186, + 994, + 414 + ], + "red object": [ + 3, + 422, + 101, + 555 + ], + "black table": [ + 2, + 70, + 258, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, tilt left 10 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4376855492591858, + 0.1086568832397461, + 0.0599069744348526, + 3.054802417755127, + -0.24567292630672455, + -0.27167263627052307 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4457864761352539, + 0.11953180283308029, + 0.05995350331068039, + 3.1153159141540527, + -0.24036775529384613, + -0.29012057185173035 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "unfold cloth upward", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4555465281009674, + 0.12576662003993988, + 0.0657249316573143, + -3.061657428741455, + -0.22046178579330444, + -0.3662137985229492 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4651692807674408, + 0.11759079992771149, + 0.07068763673305511, + -2.971609592437744, + -0.20480670034885406, + -0.4628531038761139 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white container": [ + 476, + 102, + 851, + 352 + ], + "green cloth": [ + 150, + 255, + 802, + 844 + ], + "gas stove": [ + 804, + 185, + 994, + 415 + ], + "wooden table": [ + 3, + 176, + 995, + 994 + ], + "red object": [ + 3, + 422, + 100, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.47510048747062683, + 0.118816077709198, + 0.07401277124881744, + -2.869074821472168, + -0.1993618607521057, + -0.5446133613586426 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The robot has successfully grasped the bottom edge of the green cloth, as indicated by the closed gripper and segment-level evidence. The cloth is currently partially folded on the table with the gripper holding the bottom section. The next action is to lift and pull the cloth upward to unfold it flat on the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.480906218290329, + 0.11760744452476501, + 0.07206103205680847, + -2.828756809234619, + -0.19612443447113037, + -0.5940646529197693 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The green cloth is fully unfolded and lying flat on the table, with the gripper positioned above it. The subtask of releasing the cloth after unfolding is complete, as the gripper is no longer in contact with the cloth. The next action is to retreat the gripper away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, open gripper; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.48373693227767944, + 0.11902547627687454, + 0.06706368923187256, + -2.811450958251953, + -0.19353140890598297, + -0.6187417507171631 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The green cloth is fully unfolded and lying flat on the table, with the gripper positioned above it. The subtask of releasing the cloth after unfolding is complete, as the gripper is no longer in contact with the cloth. The next action is to retreat the gripper away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4884238839149475, + 0.11983022093772888, + 0.0624253936111927, + -2.797063112258911, + -0.19847142696380615, + -0.6394227743148804 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The green cloth is fully unfolded and lying flat on the table, with the gripper positioned above it. The subtask of releasing the cloth after unfolding is complete, as the gripper is no longer in contact with the cloth. The next action is to retreat the gripper away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.4913014769554138, + 0.1189628317952156, + 0.05728494003415108, + -2.7958366870880127, + -0.20038360357284546, + -0.6510184407234192 + ], + "gripper_value": 0.20867010951042175 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The green cloth is fully unfolded and lying flat on the table, with the gripper positioned above it. The subtask of releasing the cloth after unfolding is complete, as the gripper is no longer in contact with the cloth. The next action is to retreat the gripper away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.4913472533226013, + 0.11859776079654694, + 0.051681432873010635, + -2.7910802364349365, + -0.21659943461418152, + -0.6469724178314209 + ], + "gripper_value": 0.4624805450439453 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth after unfolding", + "subtask_reasoning": "The green cloth is fully unfolded and lying flat on the table, with the gripper positioned above it. The subtask of releasing the cloth after unfolding is complete, as the gripper is no longer in contact with the cloth. The next action is to retreat the gripper away from the scene." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 35, + "end": 42 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.4870481789112091, + 0.11322543025016785, + 0.05325440317392349, + -2.804760217666626, + -0.24548640847206116, + -0.6420804858207703 + ], + "gripper_value": 0.7739869356155396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The green cloth is fully unfolded and flat on the table, with the gripper positioned above it after completing the unfolding motion. The current subtask 'retreat from cloth' indicates the robot should now move away from the cloth to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 43, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.48021677136421204, + 0.11117841303348541, + 0.0745464563369751, + -2.828446865081787, + -0.30193084478378296, + -0.6368147730827332 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from bottom to top by grasping the bottom edge and pulling it upward until the cloth lies flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom edge" + }, + { + "id": 2, + "subtask": "grasp bottom edge of cloth" + }, + { + "id": 3, + "subtask": "unfold cloth upward" + }, + { + "id": 4, + "subtask": "release cloth after unfolding" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The green cloth is fully unfolded and flat on the table, with the gripper positioned above it after completing the unfolding motion. The current subtask 'retreat from cloth' indicates the robot should now move away from the cloth to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000874_ecot.json b/cot/chunk-0000/episode_0000874_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..709e94fb3dc5c24adcb657273131c1c496776864 --- /dev/null +++ b/cot/chunk-0000/episode_0000874_ecot.json @@ -0,0 +1,1661 @@ +{ + "task_name": "episode_0000874", + "episode_json": "json/chunk-0000/episode_0000874.json", + "video_path": "videos/chunk-0000/image_0/episode_0000874.mp4", + "instruction": "Put the brush on top of the napkin.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000874.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.4722682237625122, + "std": 0.21079938113689423, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.47227, std=0.21080, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 3 + ], + [ + 3, + 4, + 14 + ], + [ + 4, + 15, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach brush\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the brush on the stovetop without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp brush\", \"start\": 4, \"end\": 14, \"planning\": \"Close the gripper to securely grasp the brush and lift it slightly from the stovetop surface.\"},\n {\"id\": 3, \"name\": \"transport brush over napkin\", \"start\": 15, \"end\": 19, \"planning\": \"Carry the grasped brush horizontally toward the purple napkin while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place brush on napkin\", \"start\": 20, \"end\": 24, \"planning\": \"Lower the brush onto the napkin and release the gripper to complete placement.\"}\n ],\n \"global_plan\": \"Approach the brush, grasp it, transport it over the napkin, and place it gently on top.\",\n \"notes\": \"Gripper closure begins in segment 3 (frames 4–14) and opens again in segment 4 (frames 15–24), consistent with grasp-and-place behavior. Frame 24 shows gripper fully open and brush resting on napkin.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach brush", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the brush on the stovetop without closing the gripper." + }, + { + "id": 2, + "name": "grasp brush", + "start": 4, + "end": 14, + "planning": "Close the gripper to securely grasp the brush and lift it slightly from the stovetop surface." + }, + { + "id": 3, + "name": "transport brush over napkin", + "start": 15, + "end": 19, + "planning": "Carry the grasped brush horizontally toward the purple napkin while maintaining grip." + }, + { + "id": 4, + "name": "place brush on napkin", + "start": 20, + "end": 24, + "planning": "Lower the brush onto the napkin and release the gripper to complete placement." + } + ], + "global_plan": "Approach the brush, grasp it, transport it over the napkin, and place it gently on top.", + "notes": "Gripper closure begins in segment 3 (frames 4–14) and opens again in segment 4 (frames 15–24), consistent with grasp-and-place behavior. Frame 24 shows gripper fully open and brush resting on napkin." + } + }, + "episode_goal": "Place the blue brush on top of the purple napkin.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25684013962745667, + -0.07837636768817902, + 0.09404931962490082, + -3.061434507369995, + -0.11483778804540634, + -0.15719641745090485 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin nearby. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.254032164812088, + -0.07713337242603302, + 0.08702809363603592, + -3.057542562484741, + -0.08884914964437485, + -0.15702976286411285 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 4 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2402249276638031, + -0.045794326812028885, + 0.07563754916191101, + -3.050363540649414, + -0.04628586396574974, + -0.08755064755678177 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2278241068124771, + -0.011489133350551128, + 0.07869008183479309, + -3.0526678562164307, + -0.0637168362736702, + -0.00806994829326868 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 470, + 433, + 703, + 698 + ], + "yellow sponge": [ + 570, + 298, + 647, + 407 + ], + "purple cloth": [ + 238, + 223, + 447, + 415 + ], + "sink": [ + 740, + 452, + 994, + 961 + ], + "blue sponge": [ + 289, + 459, + 391, + 683 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "approach brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2178005874156952, + 0.021738624200224876, + 0.07417768985033035, + -3.0544192790985107, + -0.06774533540010452, + 0.08919110894203186 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22077257931232452, + 0.032026320695877075, + 0.05458329617977142, + -3.0605320930480957, + -0.03533025085926056, + 0.10917241126298904 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2239866703748703, + 0.036055754870176315, + 0.04149152711033821, + -3.0498461723327637, + -0.02322212979197502, + 0.12218958139419556 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22925463318824768, + 0.04245002567768097, + 0.02636527642607689, + -3.0391201972961426, + 0.0009427671902813017, + 0.1442331224679947 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23251211643218994, + 0.05100363865494728, + 0.015355671755969524, + -3.0357391834259033, + 0.03005099855363369, + 0.15713179111480713 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue brush visible on the left and the purple napkin folded nearby. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 5 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2311624437570572, + 0.05895405262708664, + 0.005601721815764904, + -3.0353431701660156, + 0.05944144353270531, + 0.1874684989452362 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23523864150047302, + 0.05829009786248207, + 0.0033399888779968023, + -3.0444552898406982, + 0.05318881571292877, + 0.18171994388103485 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23480622470378876, + 0.05701771378517151, + 0.0029994016513228416, + -3.052743434906006, + 0.05682212859392166, + 0.1665247082710266 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23656125366687775, + 0.05567866936326027, + 0.027381690219044685, + -3.0600109100341797, + 0.005039570387452841, + 0.17176394164562225 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 2 cm, open gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2466675341129303, + 0.06233212351799011, + 0.06613228470087051, + -3.0431082248687744, + -0.07111896574497223, + 0.1988990753889084 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 2 cm, open gripper; then move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26799866557121277, + 0.08634285628795624, + 0.07966012507677078, + -3.0451788902282715, + -0.10362149775028229, + 0.3038884103298187 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 469, + 432, + 703, + 698 + ], + "yellow sponge": [ + 570, + 294, + 646, + 406 + ], + "sink": [ + 742, + 451, + 994, + 962 + ], + "faucet": [ + 945, + 388, + 996, + 546 + ], + "red cup": [ + 469, + 416, + 560, + 501 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "grasp brush", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 2 cm, open gripper; then move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951245605945587, + 0.10120926052331924, + 0.06472677737474442, + -3.0493409633636475, + -0.09513071179389954, + 0.34095561504364014 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "transport brush over napkin", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move down 2 cm, open gripper; then move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31440261006355286, + 0.11778711527585983, + 0.05414411053061485, + -3.050595760345459, + -0.08054209500551224, + 0.38419872522354126 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "transport brush over napkin", + "subtask_reasoning": "The robot has approached the blue brush and is now positioned above it with the gripper open. The gripper signal indicates a closing motion is underway, suggesting the robot is initiating the grasp. The next action is to close the gripper to securely hold the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, open gripper; then move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3329440951347351, + 0.13068290054798126, + 0.05581076815724373, + -3.060152292251587, + -0.10897166281938553, + 0.4104197323322296 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "transport brush over napkin", + "subtask_reasoning": "The robot is currently holding the blue brush and has moved it above the purple napkin on the stovetop. The approach and grasp phases are complete, and the brush is now positioned over the target. The next action is to lower the brush gently onto the napkin to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34014785289764404, + 0.1423935741186142, + 0.05380190536379814, + -3.068732738494873, + -0.1086607575416565, + 0.43087100982666016 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "transport brush over napkin", + "subtask_reasoning": "The robot is currently holding the blue brush and has moved it above the purple napkin on the stovetop. The approach and grasp phases are complete, and the brush is now positioned over the target. The next action is to lower the brush gently onto the napkin to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33901646733283997, + 0.14291492104530334, + 0.04675376042723656, + -3.071319103240967, + -0.08874721080064774, + 0.42192065715789795 + ], + "gripper_value": 0.6229594349861145 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "transport brush over napkin", + "subtask_reasoning": "The robot is currently holding the blue brush and has moved it above the purple napkin on the stovetop. The approach and grasp phases are complete, and the brush is now positioned over the target. The next action is to lower the brush gently onto the napkin to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34101173281669617, + 0.14026354253292084, + 0.04673641175031662, + -3.0886054039001465, + -0.09049808979034424, + 0.42696064710617065 + ], + "gripper_value": 0.904950737953186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "place brush on napkin", + "subtask_reasoning": "The robot is currently holding the blue brush and has moved it above the purple napkin on the stovetop. The approach and grasp phases are complete, and the brush is now positioned over the target. The next action is to lower the brush gently onto the napkin to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34205466508865356, + 0.13786114752292633, + 0.0506717711687088, + -3.095876932144165, + -0.08100472390651703, + 0.40430116653442383 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "place brush on napkin", + "subtask_reasoning": "The robot is currently holding the blue brush and has moved it above the purple napkin on the stovetop. The approach and grasp phases are complete, and the brush is now positioned over the target. The next action is to lower the brush gently onto the napkin to complete placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34638047218322754, + 0.12373046576976776, + 0.0858042910695076, + -3.116276741027832, + -0.145623579621315, + 0.32162800431251526 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "place brush on napkin", + "subtask_reasoning": "The blue brush is currently held above the purple napkin on the stovetop. The gripper is open, indicating the brush has been released or is in the process of being placed. The next action is to ensure the brush settles gently on the napkin and confirm placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34600532054901123, + 0.10047595202922821, + 0.10614582151174545, + -3.13569974899292, + -0.1778668910264969, + 0.23546484112739563 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "place brush on napkin", + "subtask_reasoning": "The blue brush is currently held above the purple napkin on the stovetop. The gripper is open, indicating the brush has been released or is in the process of being placed. The next action is to ensure the brush settles gently on the napkin and confirm placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418048620223999, + 0.07927727699279785, + 0.10628118366003036, + 3.1299173831939697, + -0.16708146035671234, + 0.11931873857975006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "silver pot": [ + 469, + 432, + 703, + 698 + ], + "sink": [ + 742, + 452, + 994, + 962 + ], + "faucet": [ + 945, + 388, + 996, + 545 + ], + "red cup": [ + 471, + 417, + 558, + 500 + ], + "yellow sponge": [ + 570, + 294, + 646, + 406 + ], + "blue sponge": [ + 293, + 252, + 438, + 403 + ], + "purple cloth": [ + 237, + 224, + 487, + 444 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue brush on top of the purple napkin." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush" + }, + { + "id": 2, + "subtask": "grasp brush" + }, + { + "id": 3, + "subtask": "transport brush over napkin" + }, + { + "id": 4, + "subtask": "place brush on napkin" + } + ], + "subtask_name": "place brush on napkin", + "subtask_reasoning": "The blue brush is currently held above the purple napkin on the stovetop. The gripper is open, indicating the brush has been released or is in the process of being placed. The next action is to ensure the brush settles gently on the napkin and confirm placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000875_ecot.json b/cot/chunk-0000/episode_0000875_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..acdc4c0602c5a947cee96b4cb6859cf0efb42eb9 --- /dev/null +++ b/cot/chunk-0000/episode_0000875_ecot.json @@ -0,0 +1,2225 @@ +{ + "task_name": "episode_0000875", + "episode_json": "json/chunk-0000/episode_0000875.json", + "video_path": "videos/chunk-0000/image_0/episode_0000875.mp4", + "instruction": "Stack the cube on top of the other.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000875.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.4222199320793152, + "std": 0.1946602761745453, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42222, std=0.19466, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cube\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector to the target cube, close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and position over base cube\", \"start\": 12, \"end\": 24, \"planning\": \"Lift the grasped cube and translate it above the stationary base cube.\"},\n {\"id\": 3, \"name\": \"place and release cube\", \"start\": 25, \"end\": 37, \"planning\": \"Lower the cube onto the base, open gripper to release, and retreat.\"}\n ],\n \"global_plan\": \"Grasp the loose cube, lift it, align it over the base cube, place it on top, and release to complete the stack.\",\n \"notes\": \"Segment 1 shows gripper closing (1.0 → 0.58) consistent with grasping; Segment 2 shows gripper opening (0.58 → 1.0) consistent with releasing after placement. Frame coverage is contiguous and complete from 0 to 37.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cube", + "start": 0, + "end": 11, + "planning": "Move end-effector to the target cube, close gripper to secure it." + }, + { + "id": 2, + "name": "lift and position over base cube", + "start": 12, + "end": 24, + "planning": "Lift the grasped cube and translate it above the stationary base cube." + }, + { + "id": 3, + "name": "place and release cube", + "start": 25, + "end": 37, + "planning": "Lower the cube onto the base, open gripper to release, and retreat." + } + ], + "global_plan": "Grasp the loose cube, lift it, align it over the base cube, place it on top, and release to complete the stack.", + "notes": "Segment 1 shows gripper closing (1.0 → 0.58) consistent with grasping; Segment 2 shows gripper opening (0.58 → 1.0) consistent with releasing after placement. Frame coverage is contiguous and complete from 0 to 37." + } + }, + "episode_goal": "Stack the cube on top of the other.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3709249496459961, + -0.07117938250303268, + 0.08001414686441422, + 3.0661160945892334, + -0.05093386396765709, + 1.383980393409729 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper currently open. No part of the subtask has been completed yet. The next action is to move the gripper closer to the cube and close it to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 4 cm, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.36687180399894714, + -0.06994685530662537, + 0.06611615419387817, + 3.1076090335845947, + -0.05051416903734207, + 1.3839941024780273 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper currently open. No part of the subtask has been completed yet. The next action is to move the gripper closer to the cube and close it to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.37039944529533386, + -0.06896407902240753, + 0.058160748332738876, + 3.1003994941711426, + -0.041529081761837006, + 1.424429178237915 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper currently open. No part of the subtask has been completed yet. The next action is to move the gripper closer to the cube and close it to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.37344038486480713, + -0.06591509282588959, + 0.05329342186450958, + 3.0654900074005127, + -0.04195942357182503, + 1.5104621648788452 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper currently open. No part of the subtask has been completed yet. The next action is to move the gripper closer to the cube and close it to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3782288730144501, + -0.06396670639514923, + 0.04918086528778076, + 3.0237343311309814, + -0.02778284251689911, + 1.5889170169830322 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper currently open. No part of the subtask has been completed yet. The next action is to move the gripper closer to the cube and close it to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.38034290075302124, + -0.05373886600136757, + 0.04279585927724838, + 3.0371382236480713, + -0.03696146979928017, + 1.6156519651412964 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move forward 1 cm, move left 3 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3806570768356323, + -0.04652639850974083, + 0.03464317321777344, + 3.061349868774414, + -0.049194201827049255, + 1.64761483669281 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white egg decoration": [ + 441, + 2, + 538, + 195 + ], + "table": [ + 5, + 4, + 994, + 993 + ], + "black plant": [ + 657, + 9, + 873, + 459 + ] + } + } + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move left 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3850274980068207, + -0.034806858748197556, + 0.033115826547145844, + 3.062459945678711, + -0.04394662007689476, + 1.686006784439087 + ], + "gripper_value": 0.9628177285194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 4 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.384660005569458, + -0.028674935922026634, + 0.02741893194615841, + 3.0743820667266846, + -0.039548084139823914, + 1.7104500532150269 + ], + "gripper_value": 0.6641445755958557 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38289618492126465, + -0.028634564951062202, + 0.02764761634171009, + 3.0865049362182617, + -0.04154735058546066, + 1.711480975151062 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 6 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827970623970032, + -0.03612705320119858, + 0.03894428163766861, + 3.125575542449951, + -0.010976621881127357, + 1.6467276811599731 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper closed; then move left 6 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3819049596786499, + -0.04150135815143585, + 0.06668823212385178, + 3.1241614818573, + 0.019595565274357796, + 1.6098188161849976 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white egg decoration": [ + 441, + 2, + 538, + 195 + ], + "table": [ + 5, + 4, + 994, + 993 + ], + "black plant": [ + 666, + 4, + 847, + 394 + ] + } + } + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move left 7 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3821606934070587, + -0.0440501943230629, + 0.08294706791639328, + -3.139103412628174, + 0.06265657395124435, + 1.580834150314331 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.38436076045036316, + -0.03161799907684326, + 0.09649398177862167, + -3.1190145015716553, + 0.08631406724452972, + 1.6021875143051147 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38590720295906067, + -0.019940271973609924, + 0.11091381311416626, + -3.103039026260376, + 0.09773019701242447, + 1.6191486120224 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.387170672416687, + -0.012309025973081589, + 0.12233646959066391, + -3.0983006954193115, + 0.07567176222801208, + 1.6214399337768555 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38477838039398193, + -0.005115790292620659, + 0.1288263350725174, + -3.077782154083252, + 0.06328481435775757, + 1.6269416809082031 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38614556193351746, + 0.0004273514496162534, + 0.12916064262390137, + -3.0901424884796143, + 0.0448540523648262, + 1.6119911670684814 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot arm is positioned near the loose cube on the table, with the gripper open and ready. No grasping has occurred yet, as the gripper remains fully open. The next action should be to close the gripper to grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869536817073822, + 0.0046746195293962955, + 0.12484661489725113, + -3.084904193878174, + 0.02304683066904545, + 1.5908784866333008 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.386911541223526, + 0.011740501038730145, + 0.1206509917974472, + -3.074164867401123, + 0.005480718333274126, + 1.5899245738983154 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3847009241580963, + 0.01994599960744381, + 0.11810414493083954, + -3.064997434616089, + 0.006069432012736797, + 1.6053402423858643 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3820118308067322, + 0.021807745099067688, + 0.1144837960600853, + -3.052706003189087, + 0.0049277180805802345, + 1.6082351207733154 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37812983989715576, + 0.023862507194280624, + 0.11025089025497437, + -3.034029006958008, + -0.0042336490005254745, + 1.5986337661743164 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37180328369140625, + 0.027142208069562912, + 0.10312986373901367, + -3.0072126388549805, + -0.011848608031868935, + 1.5744787454605103 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36883485317230225, + 0.028566258028149605, + 0.09994053840637207, + -2.9903945922851562, + -0.01969323307275772, + 1.539154052734375 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white egg decoration": [ + 441, + 2, + 538, + 194 + ], + "table": [ + 4, + 5, + 995, + 993 + ], + "black plant": [ + 556, + 5, + 701, + 203 + ], + "white ceramic block": [ + 503, + 64, + 669, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "lift and position over base cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.36770132184028625, + 0.029227398335933685, + 0.10108926147222519, + -2.983584403991699, + -0.02171134576201439, + 1.5261214971542358 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3718433082103729, + 0.029979119077324867, + 0.10744871199131012, + -2.9998838901519775, + -0.02572530508041382, + 1.5201785564422607 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.37686479091644287, + 0.03029813803732395, + 0.11413624882698059, + -3.0226688385009766, + -0.028007550165057182, + 1.5179989337921143 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3788451552391052, + 0.031153207644820213, + 0.10770034044981003, + -3.00685453414917, + -0.03053804486989975, + 1.5152904987335205 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3804270327091217, + 0.03198249638080597, + 0.10749981552362442, + -3.007843017578125, + -0.03521983325481415, + 1.5145187377929688 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3807339072227478, + 0.03321550413966179, + 0.09849951416254044, + -2.9856045246124268, + -0.0400838777422905, + 1.512062907218933 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The robot has grasped the loose cube and is currently lifting it above the base cube stack. The gripper remains closed with minimal movement, indicating stable transport. The next action is to precisely align the lifted cube over the top of the base cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3827679753303528, + 0.03465292230248451, + 0.09705061465501785, + -2.995788812637329, + -0.045899536460638046, + 1.5137523412704468 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the base cube on the table. The gripper is in the process of opening to release the object, as indicated by the high gripper value and segment evidence. The next action is to fully open the gripper to place the cube on the stack and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38422900438308716, + 0.034873902797698975, + 0.09690022468566895, + -3.004540205001831, + -0.051770638674497604, + 1.5141059160232544 + ], + "gripper_value": 0.6470694541931152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the base cube on the table. The gripper is in the process of opening to release the object, as indicated by the high gripper value and segment evidence. The next action is to fully open the gripper to place the cube on the stack and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3849096894264221, + 0.035264093428850174, + 0.0967910885810852, + -3.009761095046997, + -0.05197685956954956, + 1.5250487327575684 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the base cube on the table. The gripper is in the process of opening to release the object, as indicated by the high gripper value and segment evidence. The next action is to fully open the gripper to place the cube on the stack and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848126232624054, + 0.03620339557528496, + 0.09677567332983017, + -3.010002851486206, + -0.050689008086919785, + 1.5299769639968872 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the base cube on the table. The gripper is in the process of opening to release the object, as indicated by the high gripper value and segment evidence. The next action is to fully open the gripper to place the cube on the stack and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.38455620408058167, + 0.03605400025844574, + 0.09676234424114227, + -3.008960723876953, + -0.0460759736597538, + 1.5325411558151245 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the base cube on the table. The gripper is in the process of opening to release the object, as indicated by the high gripper value and segment evidence. The next action is to fully open the gripper to place the cube on the stack and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3812863230705261, + 0.033480316400527954, + 0.0982036143541336, + -2.988661527633667, + -0.018147297203540802, + 1.5402557849884033 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the base cube on the table. The gripper is in the process of opening to release the object, as indicated by the high gripper value and segment evidence. The next action is to fully open the gripper to place the cube on the stack and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840861916542053, + 0.03387467563152313, + 0.12795668840408325, + -3.031233787536621, + -0.008897033520042896, + 1.5492149591445923 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white egg decoration": [ + 441, + 2, + 538, + 194 + ], + "black plant": [ + 552, + 2, + 713, + 164 + ], + "table": [ + 5, + 5, + 994, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Stack the cube on top of the other." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position over base cube" + }, + { + "id": 3, + "subtask": "place and release cube" + } + ], + "subtask_name": "place and release cube", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the base cube on the table. The gripper is in the process of opening to release the object, as indicated by the high gripper value and segment evidence. The next action is to fully open the gripper to place the cube on the stack and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000876_ecot.json b/cot/chunk-0000/episode_0000876_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fa28e55bd0662fc2c4f3001101e0f987831a0163 --- /dev/null +++ b/cot/chunk-0000/episode_0000876_ecot.json @@ -0,0 +1,1911 @@ +{ + "task_name": "episode_0000876", + "episode_json": "json/chunk-0000/episode_0000876.json", + "video_path": "videos/chunk-0000/image_0/episode_0000876.mp4", + "instruction": "Put croissant inside silver bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000876.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.3372533321380615, + "std": 0.15962298214435577, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.33725, std=0.15962, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach croissant\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the croissant without grasping, as gripper remains open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"grasp croissant\", \"start\": 6, \"end\": 17, \"planning\": \"Close gripper around croissant; segment shows meaningful gripper closure and image at frame 17 confirms object is held.\"},\n {\"id\": 3, \"name\": \"lift and transport to bowl\", \"start\": 18, \"end\": 28, \"planning\": \"Lift croissant and move it over the silver bowl while maintaining grip, preparing for release.\"},\n {\"id\": 4, \"name\": \"release croissant into bowl\", \"start\": 29, \"end\": 29, \"planning\": \"Open gripper to drop croissant into bowl; final frame shows croissant inside bowl and gripper fully open.\"}\n ],\n \"global_plan\": \"Approach croissant, grasp it securely, lift and carry to silver bowl, then release it inside the bowl.\",\n \"notes\": \"Segment 1 (frames 0-5) has no gripper closure — described as approach only. Segment 2 (frames 6-29) includes grasp, transport, and release phases based on gripper signal change and visual confirmation at keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach croissant", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the croissant without grasping, as gripper remains open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "grasp croissant", + "start": 6, + "end": 17, + "planning": "Close gripper around croissant; segment shows meaningful gripper closure and image at frame 17 confirms object is held." + }, + { + "id": 3, + "name": "lift and transport to bowl", + "start": 18, + "end": 28, + "planning": "Lift croissant and move it over the silver bowl while maintaining grip, preparing for release." + }, + { + "id": 4, + "name": "release croissant into bowl", + "start": 29, + "end": 29, + "planning": "Open gripper to drop croissant into bowl; final frame shows croissant inside bowl and gripper fully open." + } + ], + "global_plan": "Approach croissant, grasp it securely, lift and carry to silver bowl, then release it inside the bowl.", + "notes": "Segment 1 (frames 0-5) has no gripper closure — described as approach only. Segment 2 (frames 6-29) includes grasp, transport, and release phases based on gripper signal change and visual confirmation at keyframes." + } + }, + "episode_goal": "Place the croissant into the silver bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34986600279808044, + -0.07748191058635712, + 0.1183357834815979, + -2.8984365463256836, + -0.07436400651931763, + -1.4250518083572388 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant and silver bowl visible; no objects have been interacted with yet. The gripper is open and the arm is stationary, indicating the approach phase has not begun. The next action should be to move the end-effector toward the croissant to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 17 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3484351933002472, + -0.07798407226800919, + 0.10713093727827072, + -2.931535243988037, + -0.06577211618423462, + -1.428096890449524 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant and silver bowl visible; no objects have been interacted with yet. The gripper is open and the arm is stationary, indicating the approach phase has not begun. The next action should be to move the end-effector toward the croissant to initiate grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 17 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35070085525512695, + -0.06594701111316681, + 0.11184917390346527, + -2.951796054840088, + -0.0910470262169838, + -1.4986093044281006 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 16 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3463684618473053, + -0.026220059022307396, + 0.12272966653108597, + -2.909454584121704, + -0.06651678681373596, + -1.4255945682525635 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3346095681190491, + 0.016625158488750458, + 0.13575655221939087, + -2.8862881660461426, + -0.05521314591169357, + -1.3528828620910645 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 309, + 132, + 608, + 334 + ], + "patterned object": [ + 736, + 217, + 871, + 398 + ], + "table": [ + 6, + 98, + 994, + 992 + ], + "croissant": [ + 268, + 304, + 410, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32243746519088745, + 0.05279075354337692, + 0.1248476579785347, + -2.880680561065674, + 0.02603149600327015, + -1.2701865434646606 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "approach croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3074619174003601, + 0.0930740162730217, + 0.10336590558290482, + -2.9177286624908447, + 0.05298225209116936, + -1.0671120882034302 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30384814739227295, + 0.1018642857670784, + 0.0732589140534401, + -2.9780242443084717, + 0.10895734280347824, + -0.9922794699668884 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30235543847084045, + 0.11161094158887863, + 0.05568967014551163, + -2.9819376468658447, + 0.170381560921669, + -0.920652449131012 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30446091294288635, + 0.10607384145259857, + 0.04569099843502045, + -3.0127108097076416, + 0.2147609442472458, + -0.9648640155792236 + ], + "gripper_value": 0.9406655430793762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3057776689529419, + 0.10394845902919769, + 0.04388181492686272, + -3.0128049850463867, + 0.2367163598537445, + -0.9924253821372986 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot is positioned above the table with the croissant visible to the left and the silver bowl further back. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the croissant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067064881324768, + 0.10401082783937454, + 0.04392010718584061, + -3.0080814361572266, + 0.24427364766597748, + -0.9913193583488464 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 7 cm, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066110908985138, + 0.10268144309520721, + 0.045023489743471146, + -3.0065865516662598, + 0.2380560338497162, + -0.9923471212387085 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3079420030117035, + 0.09470246732234955, + 0.05125727131962776, + -3.009425163269043, + 0.18590545654296875, + -0.9960535168647766 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31979605555534363, + 0.08839564025402069, + 0.08683737367391586, + -2.9748899936676025, + 0.11478358507156372, + -1.0036360025405884 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3344513177871704, + 0.08493516594171524, + 0.11820944398641586, + -2.936662435531616, + 0.06272266805171967, + -0.995326578617096 + ], + "gripper_value": 0.6691625118255615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.352220356464386, + 0.0666578933596611, + 0.13405798375606537, + -2.9285054206848145, + -0.0015129790408536792, + -1.0103495121002197 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3759908974170685, + 0.04766733944416046, + 0.12377747893333435, + -2.954836845397949, + -0.025999564677476883, + -1.0292643308639526 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "patterned object": [ + 736, + 217, + 871, + 398 + ], + "croissant": [ + 515, + 698, + 796, + 896 + ], + "table": [ + 5, + 94, + 994, + 992 + ], + "metal pot": [ + 311, + 128, + 608, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "grasp croissant", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3919377326965332, + 0.039280299097299576, + 0.11229343712329865, + -2.9637413024902344, + -0.01890474557876587, + -1.038423776626587 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3986032009124756, + 0.0416107103228569, + 0.09791934490203857, + -2.967893600463867, + 0.00682296697050333, + -1.0284838676452637 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4044041335582733, + 0.04953568056225777, + 0.08448018878698349, + -2.97424578666687, + 0.03926585614681244, + -1.0058842897415161 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt left 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.404106080532074, + 0.06475691497325897, + 0.06722517311573029, + -2.995574951171875, + 0.0790495052933693, + -0.9809738993644714 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.40577319264411926, + 0.06580860912799835, + 0.0680135190486908, + -2.9886744022369385, + 0.08178374171257019, + -0.9810057282447815 + ], + "gripper_value": 0.7398436665534973 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the croissant on the wooden table, with the silver bowl visible in the background. The gripper is currently open and hovering over the target object. The next action is to close the gripper to securely grasp the croissant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056324064731598, + 0.06251763552427292, + 0.06785868853330612, + -2.986994504928589, + 0.0938008725643158, + -0.9938173294067383 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot has successfully grasped the croissant and is currently lifting it from the table surface. The gripper is closed around the object, and the arm is in the process of transporting it toward the silver bowl. The next action is to continue moving the croissant over the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.40590447187423706, + 0.06059644743800163, + 0.06715352833271027, + -2.985532283782959, + 0.09240616858005524, + -0.9959980845451355 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot has successfully grasped the croissant and is currently lifting it from the table surface. The gripper is closed around the object, and the arm is in the process of transporting it toward the silver bowl. The next action is to continue moving the croissant over the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4054279625415802, + 0.05985473841428757, + 0.06544874608516693, + -2.9835386276245117, + 0.09538977593183517, + -0.9986971616744995 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot has successfully grasped the croissant and is currently lifting it from the table surface. The gripper is closed around the object, and the arm is in the process of transporting it toward the silver bowl. The next action is to continue moving the croissant over the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4042145311832428, + 0.057326216250658035, + 0.06847325712442398, + -2.9973764419555664, + 0.08533194661140442, + -1.0015339851379395 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot has successfully grasped the croissant and is currently lifting it from the table surface. The gripper is closed around the object, and the arm is in the process of transporting it toward the silver bowl. The next action is to continue moving the croissant over the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4133647680282593, + 0.052657291293144226, + 0.10264480113983154, + -2.9498023986816406, + 0.019950028508901596, + -0.993625819683075 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot has successfully grasped the croissant and is currently lifting it from the table surface. The gripper is closed around the object, and the arm is in the process of transporting it toward the silver bowl. The next action is to continue moving the croissant over the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4132382869720459, + 0.05135007202625275, + 0.1232447698712349, + -2.930372714996338, + -0.014820466749370098, + -0.9846282005310059 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "patterned object": [ + 736, + 217, + 871, + 397 + ], + "table": [ + 6, + 98, + 994, + 991 + ], + "black object": [ + 475, + 3, + 578, + 184 + ], + "metal pot": [ + 317, + 126, + 601, + 343 + ] + } + } + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "lift and transport to bowl", + "subtask_reasoning": "The robot has successfully grasped the croissant and is currently lifting it from the table surface. The gripper is closed around the object, and the arm is in the process of transporting it toward the silver bowl. The next action is to continue moving the croissant over the bowl for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.40715745091438293, + 0.06356735527515411, + 0.1483353078365326, + -2.877289056777954, + -0.04347369447350502, + -0.9818723201751709 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the croissant into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach croissant" + }, + { + "id": 2, + "subtask": "grasp croissant" + }, + { + "id": 3, + "subtask": "lift and transport to bowl" + }, + { + "id": 4, + "subtask": "release croissant into bowl" + } + ], + "subtask_name": "release croissant into bowl", + "subtask_reasoning": "The croissant is already inside the silver bowl, indicating the release action has been completed. The gripper is fully open and positioned away from the bowl, confirming no further manipulation is needed. The subtask is effectively finished as the object is successfully placed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000880_ecot.json b/cot/chunk-0000/episode_0000880_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..6c98fc32fc6bec17cc77089d1fa7a0350fd7da46 --- /dev/null +++ b/cot/chunk-0000/episode_0000880_ecot.json @@ -0,0 +1,1945 @@ +{ + "task_name": "episode_0000880", + "episode_json": "json/chunk-0000/episode_0000880.json", + "video_path": "videos/chunk-0000/image_0/episode_0000880.mp4", + "instruction": "Put potato in pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000880.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.3198537230491638, + "std": 0.13788215816020966, + "delta_total": -0.0006911158561706543, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.31985, std=0.13788, total_delta=-0.00069). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 24 + ], + [ + 3, + 25, + 27 + ], + [ + 4, + 28, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the yellow potato on the cutting board without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp and lift potato\", \"start\": 3, \"end\": 24, \"planning\": \"Close gripper to grasp the potato, then lift it while adjusting position for placement into the pot.\"},\n {\"id\": 3, \"name\": \"release potato in pot\", \"start\": 25, \"end\": 27, \"planning\": \"Open gripper to release the potato inside the orange bowl (pot), confirming drop via motion and gripper state.\"},\n {\"id\": 4, \"name\": \"retreat from pot\", \"start\": 28, \"end\": 29, \"planning\": \"Lift and move end-effector away from the pot after releasing the potato, completing the task.\"}\n ],\n \"global_plan\": \"Approach the potato, grasp and lift it, place it into the pot (orange bowl), then retreat — all observed through gripper closure, motion trajectory, and visual confirmation of object transfer.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has significant gripper closure and motion consistent with grasping and lifting. Segment 3 shows gripper opening and downward motion consistent with release. Segment 4 shows retreat with open gripper. All subtasks are contiguous and cover full timeline [0,29].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the yellow potato on the cutting board without closing gripper." + }, + { + "id": 2, + "name": "grasp and lift potato", + "start": 3, + "end": 24, + "planning": "Close gripper to grasp the potato, then lift it while adjusting position for placement into the pot." + }, + { + "id": 3, + "name": "release potato in pot", + "start": 25, + "end": 27, + "planning": "Open gripper to release the potato inside the orange bowl (pot), confirming drop via motion and gripper state." + }, + { + "id": 4, + "name": "retreat from pot", + "start": 28, + "end": 29, + "planning": "Lift and move end-effector away from the pot after releasing the potato, completing the task." + } + ], + "global_plan": "Approach the potato, grasp and lift it, place it into the pot (orange bowl), then retreat — all observed through gripper closure, motion trajectory, and visual confirmation of object transfer.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has significant gripper closure and motion consistent with grasping and lifting. Segment 3 shows gripper opening and downward motion consistent with release. Segment 4 shows retreat with open gripper. All subtasks are contiguous and cover full timeline [0,29]." + } + }, + "episode_goal": "Place the yellow pear into the orange pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22281451523303986, + 0.03606526181101799, + 0.13514827191829681, + -3.106626510620117, + 0.029514741152524948, + 0.16576935350894928 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the wooden surface with the potato visible nearby. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 4 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.21989049017429352, + 0.035758282989263535, + 0.12736743688583374, + -3.106311082839966, + 0.05335380136966705, + 0.18892498314380646 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 4 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22518329322338104, + 0.03846542164683342, + 0.11221366375684738, + -3.096712589263916, + 0.027104252949357033, + 0.41470086574554443 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 8 cm, move left 3 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23887899518013, + 0.05083233118057251, + 0.1104956641793251, + 3.120943069458008, + 0.034010760486125946, + 0.5966765880584717 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move down 10 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566342353820801, + 0.06619375199079514, + 0.10277796536684036, + 3.0252163410186768, + 0.027017008513212204, + 0.8476201891899109 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 39, + 358, + 264, + 624 + ], + "green vegetable": [ + 332, + 553, + 442, + 663 + ], + "wooden cutting board": [ + 22, + 256, + 716, + 936 + ], + "orange lid": [ + 446, + 437, + 634, + 628 + ], + "red pepper": [ + 314, + 628, + 546, + 756 + ], + "yellow fruit": [ + 368, + 313, + 467, + 420 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 1 cm, move down 10 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27138882875442505, + 0.07815217226743698, + 0.09641499072313309, + 2.968407154083252, + -0.0041030836291611195, + 1.0774999856948853 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2876085937023163, + 0.08806756883859634, + 0.08881470561027527, + 2.915565013885498, + -0.04843156039714813, + 1.224313497543335 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30064618587493896, + 0.0943579226732254, + 0.07415653765201569, + 2.9508893489837646, + -0.027616187930107117, + 1.3180315494537354 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3154869079589844, + 0.09709689021110535, + 0.0632290244102478, + 2.975555181503296, + -0.028095252811908722, + 1.3740262985229492 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32012635469436646, + 0.09622134268283844, + 0.05063413456082344, + 2.982757091522217, + -0.024337586015462875, + 1.3742097616195679 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32359862327575684, + 0.09363006800413132, + 0.045685019344091415, + 2.963676691055298, + -0.04331068694591522, + 1.3606162071228027 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move up 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32118910551071167, + 0.0865071639418602, + 0.0363120399415493, + 2.9749808311462402, + -0.043601810932159424, + 1.3448079824447632 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32238277792930603, + 0.08351679146289825, + 0.029701141640543938, + 2.9881105422973633, + -0.045671164989471436, + 1.3538954257965088 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot is positioned above the cutting board with the gripper open, approaching the yellow pear. No objects have been grasped yet. The next action is to continue moving the gripper closer to the pear to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 6 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3234516978263855, + 0.08121761679649353, + 0.013422357849776745, + 3.0371601581573486, + -0.044916510581970215, + 1.3682861328125 + ], + "gripper_value": 0.9893313646316528 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 7 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32347819209098816, + 0.08038368076086044, + 0.005279918666929007, + 3.0578508377075195, + -0.06025329604744911, + 1.365212082862854 + ], + "gripper_value": 0.9886419177055359 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 8 cm, move up 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32384684681892395, + 0.08091679960489273, + 0.004832759499549866, + 3.055058479309082, + -0.06876672804355621, + 1.3590235710144043 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32062259316444397, + 0.07815074920654297, + 0.0026082447730004787, + 3.061270236968994, + -0.052601397037506104, + 1.3542660474777222 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 8 cm, move up 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3153536915779114, + 0.07454624772071838, + 0.0018282003002241254, + 3.084033489227295, + -0.025455499067902565, + 1.354322075843811 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 9 cm, move up 6 cm, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069570064544678, + 0.07104942947626114, + 0.006215686444193125, + 3.1143436431884766, + 0.012636296451091766, + 1.3439005613327026 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 9 cm, move up 5 cm, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952025234699249, + 0.07668111473321915, + 0.052815552800893784, + 3.074676275253296, + 0.06431540846824646, + 1.3289523124694824 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 41, + 359, + 264, + 624 + ], + "wooden cutting board": [ + 65, + 355, + 682, + 933 + ], + "orange lid": [ + 446, + 436, + 634, + 628 + ], + "red pepper": [ + 314, + 628, + 545, + 756 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27270445227622986, + 0.09336530417203903, + 0.08668005466461182, + 3.0184743404388428, + 0.10375798493623734, + 1.2516237497329712 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 7 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24415616691112518, + 0.11732806265354156, + 0.09325643628835678, + 3.0197761058807373, + 0.10461556166410446, + 1.2009636163711548 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, open gripper; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.22884298861026764, + 0.13879263401031494, + 0.08787664771080017, + 3.067267894744873, + 0.11436368525028229, + 1.1739256381988525 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 40, + 362, + 264, + 623 + ], + "wooden cutting board": [ + 36, + 283, + 693, + 935 + ], + "green vegetable": [ + 331, + 552, + 441, + 664 + ], + "orange lid": [ + 446, + 437, + 634, + 628 + ], + "yellow fruit": [ + 116, + 232, + 217, + 368 + ], + "red pepper": [ + 314, + 628, + 545, + 756 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, open gripper; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2271955907344818, + 0.15328967571258545, + 0.07557852566242218, + 3.0901265144348145, + 0.11138508468866348, + 1.1872200965881348 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23026946187019348, + 0.16097043454647064, + 0.06469238549470901, + 3.115241050720215, + 0.07795948535203934, + 1.197914719581604 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23249079287052155, + 0.15964660048484802, + 0.05686314031481743, + -3.139486312866211, + 0.03294248506426811, + 1.1681228876113892 + ], + "gripper_value": 0.7181003093719482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot has approached the potato and is now positioned above it with the gripper open. The current subtask involves closing the gripper to grasp the potato, followed by lifting it. The next action is to close the gripper around the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22809834778308868, + 0.1516445130109787, + 0.04872977361083031, + -3.117528200149536, + 0.03743962571024895, + 1.1285914182662964 + ], + "gripper_value": 0.9665181636810303 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot is positioned above the orange pot with the gripper open, indicating the potato has been released. The subtask of placing the object is complete as the gripper is no longer holding anything. The next action is to retreat or move away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22644498944282532, + 0.1456185281276703, + 0.053645387291908264, + -3.1382598876953125, + 0.049379050731658936, + 1.1128880977630615 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release potato in pot", + "subtask_reasoning": "The robot is positioned above the orange pot with the gripper open, indicating the potato has been released. The subtask of placing the object is complete as the gripper is no longer holding anything. The next action is to retreat or move away from the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 25, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2282518446445465, + 0.14112435281276703, + 0.06280912458896637, + 3.124976634979248, + 0.0733899399638176, + 1.1242074966430664 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot has successfully placed the yellow pear into the orange pot and is now retreating. The gripper is open, and the end-effector is moving away from the pot area. The next action is to continue retreating to a safe distance from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23391279578208923, + 0.13934384286403656, + 0.0887310802936554, + 3.084580898284912, + 0.052321214228868484, + 1.1222294569015503 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow pear into the orange pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "grasp and lift potato" + }, + { + "id": 3, + "subtask": "release potato in pot" + }, + { + "id": 4, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The robot has successfully placed the yellow pear into the orange pot and is now retreating. The gripper is open, and the end-effector is moving away from the pot area. The next action is to continue retreating to a safe distance from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 28, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000884_ecot.json b/cot/chunk-0000/episode_0000884_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed21d4f7eaeccb650dc81e8d161e20af34a0978 --- /dev/null +++ b/cot/chunk-0000/episode_0000884_ecot.json @@ -0,0 +1,1395 @@ +{ + "task_name": "episode_0000884", + "episode_json": "json/chunk-0000/episode_0000884.json", + "video_path": "videos/chunk-0000/image_0/episode_0000884.mp4", + "instruction": "Move the green cloth to the center of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000884.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013339519500732422, + "std": 0.0005924656288698316, + "delta_total": -0.000666201114654541, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00059, total_delta=-0.00067). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from its initial position toward the green cloth on the table.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 7, \"end\": 12, \"planning\": \"Lower and align the gripper to establish stable contact with the surface of the green cloth.\"},\n {\"id\": 3, \"name\": \"drag cloth toward center\", \"start\": 13, \"end\": 18, \"planning\": \"Apply controlled horizontal motion to slide the green cloth closer to the table center while maintaining contact.\"},\n {\"id\": 4, \"name\": \"reposition and retreat\", \"start\": 19, \"end\": 20, \"planning\": \"Fine-tune the cloth’s final position near center and lift the end-effector slightly to release contact.\"}\n ],\n \"global_plan\": \"The robot approaches the green cloth, makes contact without grasping, drags it toward the center of the table using sliding motion, then repositions and retreats to complete the task.\",\n \"notes\": \"No grasping or lifting occurred — gripper remained nearly open throughout (values >0.998). All manipulation was achieved via contact-based pushing/sliding. Segment boundaries were respected but merged into natural phases for clarity and coverage.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green cloth", + "start": 0, + "end": 6, + "planning": "Move the end-effector from its initial position toward the green cloth on the table." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 7, + "end": 12, + "planning": "Lower and align the gripper to establish stable contact with the surface of the green cloth." + }, + { + "id": 3, + "name": "drag cloth toward center", + "start": 13, + "end": 18, + "planning": "Apply controlled horizontal motion to slide the green cloth closer to the table center while maintaining contact." + }, + { + "id": 4, + "name": "reposition and retreat", + "start": 19, + "end": 20, + "planning": "Fine-tune the cloth’s final position near center and lift the end-effector slightly to release contact." + } + ], + "global_plan": "The robot approaches the green cloth, makes contact without grasping, drags it toward the center of the table using sliding motion, then repositions and retreats to complete the task.", + "notes": "No grasping or lifting occurred — gripper remained nearly open throughout (values >0.998). All manipulation was achieved via contact-based pushing/sliding. Segment boundaries were respected but merged into natural phases for clarity and coverage." + } + }, + "episode_goal": "Move the green cloth to the center of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23967108130455017, + -0.04914834350347519, + 0.021000273525714874, + -3.0436182022094727, + -0.17627589404582977, + -0.11566527932882309 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the wooden table, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway but not complete. The next action should be to move the end-effector closer to establish contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 19 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23676960170269012, + -0.048718664795160294, + 0.016716131940484047, + -3.0430572032928467, + -0.1573113352060318, + -0.11534994840621948 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the wooden table, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway but not complete. The next action should be to move the end-effector closer to establish contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 19 cm, move down 6 cm, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23675644397735596, + -0.02199922502040863, + 0.013956188224256039, + -3.0577704906463623, + -0.1454891711473465, + -0.009323169477283955 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is positioned near the green cloth on the wooden table, with the gripper open and no contact yet made. The subtask of approaching the cloth is underway but not complete. The next action should be to move the end-effector closer to establish contact with the cloth for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 16 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23890803754329681, + 0.02639073133468628, + 0.00361172785051167, + -3.0851669311523438, + -0.1403411626815796, + 0.14137625694274902 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 536, + 160, + 765, + 448 + ], + "white basket": [ + 555, + 641, + 976, + 995 + ], + "green cloth": [ + 146, + 504, + 337, + 732 + ], + "wooden surface": [ + 45, + 467, + 975, + 996 + ], + "washing machine": [ + 220, + 3, + 994, + 719 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the table, with no contact made yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for dragging it to the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 12 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24121281504631042, + 0.07031334191560745, + -0.01685488224029541, + -3.090383529663086, + -0.09880362451076508, + 0.24764402210712433 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the table, with no contact made yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for dragging it to the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 2 cm, keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2457852065563202, + 0.12154819071292877, + -0.029179908335208893, + -3.0825142860412598, + -0.10494986176490784, + 0.2905580699443817 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the table, with no contact made yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for dragging it to the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24522975087165833, + 0.14105036854743958, + -0.0388760007917881, + -3.0837631225585938, + -0.08174964040517807, + 0.2567611336708069 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "approach green cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the table, with no contact made yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for dragging it to the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 3 cm, move down 4 cm, keep gripper open; then move forward 3 cm, move right 15 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2453707605600357, + 0.1425861269235611, + -0.038714878261089325, + -3.078388214111328, + -0.10484423488378525, + 0.2409934252500534 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the table, with no contact made yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for dragging it to the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 4 cm, keep gripper open; then move forward 3 cm, move right 18 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.24313901364803314, + 0.1463838666677475, + -0.04300295189023018, + -3.0261967182159424, + -0.15142318606376648, + 0.18219423294067383 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot is approaching the green cloth on the table, with no contact made yet. The gripper remains open and no grasping has occurred. The next action is to continue moving toward the cloth to prepare for dragging it to the center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, keep gripper open; then move forward 3 cm, move right 18 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24079503118991852, + 0.15066052973270416, + -0.0508306585252285, + -2.973498821258545, + -0.20743884146213531, + 0.18510712683200836 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate a sliding motion to drag the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 17 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2293698936700821, + 0.151206836104393, + -0.07188472896814346, + -2.995318651199341, + -0.1752755492925644, + 0.2175811231136322 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 536, + 157, + 764, + 453 + ], + "white basket": [ + 555, + 641, + 975, + 995 + ], + "green cloth": [ + 135, + 507, + 371, + 733 + ], + "washing machine": [ + 107, + 4, + 992, + 718 + ], + "wooden surface": [ + 43, + 505, + 973, + 997 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate a sliding motion to drag the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, tilt right 10 degrees, keep gripper open; then move forward 2 cm, move right 17 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22851446270942688, + 0.14974188804626465, + -0.07405801117420197, + -3.0034022331237793, + -0.18093016743659973, + 0.21543842554092407 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate a sliding motion to drag the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move forward 2 cm, move right 17 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2282032072544098, + 0.1423235535621643, + -0.07567352056503296, + -3.0239574909210205, + -0.18430501222610474, + 0.21339941024780273 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the green cloth on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate a sliding motion to drag the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move forward 2 cm, move right 17 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2286517471075058, + 0.11697652190923691, + -0.07623329758644104, + -3.075263738632202, + -0.1824820190668106, + 0.170466348528862 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot has approached the green cloth on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate a sliding motion to drag the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 17 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24146266281604767, + 0.06520353257656097, + -0.07665916532278061, + -3.128911018371582, + -0.17963121831417084, + 0.03551272675395012 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot has approached the green cloth on the table and is now positioned directly above it. The gripper remains open with no closing evidence, indicating contact is being made without grasping. The next action is to initiate a sliding motion to drag the cloth toward the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25355085730552673, + 0.01589699275791645, + -0.06841979175806046, + 3.137892961502075, + -0.20010653138160706, + -0.13990645110607147 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or dragging motion rather than grasping. The next action is to continue dragging the cloth toward the center of the table using controlled end-effector movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2563604414463043, + -0.030917581170797348, + -0.06483860313892365, + -3.13240647315979, + -0.1994859278202057, + -0.24655833840370178 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or dragging motion rather than grasping. The next action is to continue dragging the cloth toward the center of the table using controlled end-effector movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2549862861633301, + -0.0648469477891922, + -0.06263067573308945, + -3.1197261810302734, + -0.1881418228149414, + -0.3096216022968292 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 541, + 160, + 764, + 443 + ], + "white basket": [ + 595, + 659, + 988, + 995 + ], + "green cloth": [ + 357, + 572, + 569, + 870 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or dragging motion rather than grasping. The next action is to continue dragging the cloth toward the center of the table using controlled end-effector movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25673940777778625, + -0.06611429154872894, + -0.05366646125912666, + -3.1076138019561768, + -0.1984068900346756, + -0.2786892056465149 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "drag cloth toward center", + "subtask_reasoning": "The robot is in contact with the green cloth on the table, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or dragging motion rather than grasping. The next action is to continue dragging the cloth toward the center of the table using controlled end-effector movement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24813984334468842, + -0.05431179702281952, + -0.029485033825039864, + -3.062127113342285, + -0.22362551093101501, + -0.21455752849578857 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The green cloth has been dragged to the center of the table, and the robot is now in a repositioned stance with the gripper open and no contact. The next action is to retreat the arm away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2374839186668396, + -0.040812522172927856, + 0.011662490665912628, + -3.091442108154297, + -0.28534719347953796, + -0.13121353089809418 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth to the center of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth toward center" + }, + { + "id": 4, + "subtask": "reposition and retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The green cloth has been dragged to the center of the table, and the robot is now in a repositioned stance with the gripper open and no contact. The next action is to retreat the arm away from the cloth to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000885_ecot.json b/cot/chunk-0000/episode_0000885_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..90086b8b691b0c3e594ed143d0a5c88e42549726 --- /dev/null +++ b/cot/chunk-0000/episode_0000885_ecot.json @@ -0,0 +1,2411 @@ +{ + "task_name": "episode_0000885", + "episode_json": "json/chunk-0000/episode_0000885.json", + "video_path": "videos/chunk-0000/image_0/episode_0000885.mp4", + "instruction": "Move spoon to right of blue cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000885.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.615293025970459, + "std": 0.2929736077785492, + "delta_total": 0.0006518363952636719, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61529, std=0.29297, total_delta=0.00065). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 314, + 331, + 331, + 331 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 19 + ], + [ + 4, + 20, + 22 + ], + [ + 5, + 23, + 30 + ], + [ + 6, + 31, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the spoon near the blue cloth without grasping.\"},\n {\"id\": 2, \"name\": \"reposition for grasp\", \"start\": 5, \"end\": 13, \"planning\": \"Adjust pose and alignment to prepare for grasping the spoon, maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"grasp spoon\", \"start\": 14, \"end\": 19, \"planning\": \"Close gripper to securely grasp the spoon as confirmed by segment-level closing evidence and visual consistency.\"},\n {\"id\": 4, \"name\": \"transport spoon rightward\", \"start\": 20, \"end\": 30, \"planning\": \"Carry the grasped spoon horizontally to the right of the blue cloth while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release spoon\", \"start\": 31, \"end\": 33, \"planning\": \"Open gripper to release the spoon at target location, confirmed by segment-level opening evidence and final image.\"}\n ],\n \"global_plan\": \"Approach spoon near blue cloth, reposition for stable grasp, grasp it, move it right of the cloth, then release.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: no grasp before frame 14, confirmed grasp during [14,19], transport with hold through [20,30], and release during [31,33] per gripper opening trend and final state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the spoon near the blue cloth without grasping." + }, + { + "id": 2, + "name": "reposition for grasp", + "start": 5, + "end": 13, + "planning": "Adjust pose and alignment to prepare for grasping the spoon, maintaining open gripper." + }, + { + "id": 3, + "name": "grasp spoon", + "start": 14, + "end": 19, + "planning": "Close gripper to securely grasp the spoon as confirmed by segment-level closing evidence and visual consistency." + }, + { + "id": 4, + "name": "transport spoon rightward", + "start": 20, + "end": 30, + "planning": "Carry the grasped spoon horizontally to the right of the blue cloth while maintaining grip." + }, + { + "id": 5, + "name": "release spoon", + "start": 31, + "end": 33, + "planning": "Open gripper to release the spoon at target location, confirmed by segment-level opening evidence and final image." + } + ], + "global_plan": "Approach spoon near blue cloth, reposition for stable grasp, grasp it, move it right of the cloth, then release.", + "notes": "Subtasks align with observed motion segments and gripper evidence: no grasp before frame 14, confirmed grasp during [14,19], transport with hold through [20,30], and release during [31,33] per gripper opening trend and final state." + } + }, + "episode_goal": "Move spoon to right of blue cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756490409374237, + -0.025803813710808754, + 0.08152715861797333, + -2.9825191497802734, + 0.10059806704521179, + -0.611318051815033 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the metal bowl containing the spoon, with the gripper open. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the spoon to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 15 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2748672366142273, + -0.025645803660154343, + 0.07477977871894836, + -2.992044687271118, + 0.12262718379497528, + -0.609366238117218 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the metal bowl containing the spoon, with the gripper open. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the spoon to prepare for a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 15 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28100594878196716, + -0.005788012873381376, + 0.07379703968763351, + -2.971341371536255, + 0.13324812054634094, + -0.5507471561431885 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the spoon inside the metal bowl, with the gripper open and no contact yet. The subtask is to approach the spoon for a stable grasp. The next action should be to lower the gripper toward the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 13 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2957598567008972, + 0.029659366235136986, + 0.08682132512331009, + -2.9358413219451904, + 0.09447138756513596, + -0.4544491767883301 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 336, + 470, + 580, + 774 + ], + "yellow can": [ + 727, + 129, + 873, + 333 + ], + "blue cloth": [ + 336, + 277, + 580, + 490 + ], + "black stove": [ + 714, + 170, + 997, + 993 + ], + "wooden countertop": [ + 4, + 118, + 879, + 959 + ], + "yellow banana": [ + 181, + 259, + 337, + 401 + ] + } + } + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the spoon inside the metal bowl, with the gripper open and no contact yet. The subtask is to approach the spoon for a stable grasp. The next action should be to lower the gripper toward the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.31644606590270996, + 0.07811356335878372, + 0.10094384104013443, + -2.8849284648895264, + -0.002210063859820366, + -0.3341340124607086 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the spoon inside the metal bowl, with the gripper open and no contact yet. The subtask is to approach the spoon for a stable grasp. The next action should be to lower the gripper toward the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 5 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3410748839378357, + 0.12512601912021637, + 0.07812723517417908, + -2.8886420726776123, + -0.02318791300058365, + -0.24661749601364136 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot arm is positioned above the spoon inside the metal bowl, with the gripper open and no contact yet. The subtask is to approach the spoon for a stable grasp. The next action should be to lower the gripper toward the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3572128117084503, + 0.15556134283542633, + 0.06260611861944199, + -2.8794848918914795, + -0.02023725025355816, + -0.18254132568836212 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot arm is positioned above the spoon inside the metal bowl, with the gripper open and no contact yet. The subtask is to approach the spoon for a stable grasp. The next action should be to lower the gripper toward the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36452943086624146, + 0.1732916682958603, + 0.03906339034438133, + -2.8918745517730713, + -0.016579167917370796, + -0.09047470986843109 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot arm is positioned above the spoon inside the metal bowl, with the gripper open and no contact yet. The subtask is to approach the spoon for a stable grasp. The next action should be to lower the gripper toward the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 5 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36666858196258545, + 0.18013079464435577, + 0.03326841816306114, + -2.8940513134002686, + -0.01841941475868225, + -0.052492883056402206 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toaster": [ + 283, + 1, + 642, + 237 + ], + "blue cloth": [ + 338, + 259, + 578, + 490 + ], + "yellow banana": [ + 180, + 261, + 334, + 400 + ], + "metal bowl": [ + 336, + 472, + 580, + 770 + ], + "black cat toy": [ + 142, + 9, + 335, + 340 + ], + "yellow can": [ + 728, + 130, + 873, + 333 + ], + "black stove": [ + 715, + 170, + 997, + 993 + ], + "wooden countertop": [ + 4, + 135, + 876, + 965 + ], + "red can": [ + 613, + 32, + 754, + 283 + ] + } + } + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot arm is positioned above the spoon inside the metal bowl, with the gripper open and no contact yet. The subtask is to approach the spoon for a stable grasp. The next action should be to lower the gripper toward the spoon handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move right 10 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36897480487823486, + 0.18136142194271088, + 0.03180484473705292, + -2.896182060241699, + -0.019854849204421043, + -0.04730849713087082 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the spoon near the blue cloth and is now repositioning its end-effector for a stable grasp. The gripper is open and aligned above the spoon, with minor adjustments in position and orientation observed. The next likely action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 2 cm, move right 14 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36918312311172485, + 0.17788054049015045, + 0.023259686306118965, + -2.915487766265869, + -0.014175103046000004, + -0.031906358897686005 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the spoon near the blue cloth and is now repositioning its end-effector for a stable grasp. The gripper is open and aligned above the spoon, with minor adjustments in position and orientation observed. The next likely action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 3 cm, move right 19 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36888083815574646, + 0.18146364390850067, + 0.017665477469563484, + -2.9176504611968994, + -0.026235539466142654, + -0.01612776704132557 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the spoon near the blue cloth and is now repositioning its end-effector for a stable grasp. The gripper is open and aligned above the spoon, with minor adjustments in position and orientation observed. The next likely action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 19 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 5 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36938318610191345, + 0.1809854507446289, + 0.016214799135923386, + -2.9223475456237793, + -0.035484734922647476, + -0.016442276537418365 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the spoon near the blue cloth and is now repositioning its end-effector for a stable grasp. The gripper is open and aligned above the spoon, with minor adjustments in position and orientation observed. The next likely action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 19 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 10 cm, move down 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.37141290307044983, + 0.1809028536081314, + 0.016289275139570236, + -2.922231912612915, + -0.046585794538259506, + -0.025556745007634163 + ], + "gripper_value": 0.6731748580932617 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the spoon near the blue cloth and is now repositioning its end-effector for a stable grasp. The gripper is open and aligned above the spoon, with minor adjustments in position and orientation observed. The next likely action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move right 19 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 11 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3717740774154663, + 0.1787581741809845, + 0.013813738711178303, + -2.92867112159729, + -0.05444025620818138, + -0.03134705126285553 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon near the blue cloth and is now repositioning its end-effector for a stable grasp. The gripper is open and aligned above the spoon, with minor adjustments in position and orientation observed. The next likely action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 19 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3694677948951721, + 0.17527616024017334, + 0.013595442287623882, + -2.93817400932312, + -0.06731659919023514, + -0.04077748954296112 + ], + "gripper_value": 0.3936077654361725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon near the blue cloth and is now repositioning its end-effector for a stable grasp. The gripper is open and aligned above the spoon, with minor adjustments in position and orientation observed. The next likely action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 19 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 11 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.35830777883529663, + 0.16466708481311798, + 0.021268876269459724, + -2.945359230041504, + -0.03813551738858223, + -0.050791893154382706 + ], + "gripper_value": 0.39273425936698914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 18 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36300724744796753, + 0.13336744904518127, + 0.0603518970310688, + -2.928697347640991, + -0.10088954120874405, + -0.0974104031920433 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 15 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.374788373708725, + 0.08241333067417145, + 0.08377910405397415, + -2.969162702560425, + -0.14677751064300537, + -0.19751814007759094 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3923676609992981, + 0.03526907414197922, + 0.09562145173549652, + -2.9981563091278076, + -0.20135921239852905, + -0.2868788242340088 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, keep gripper closed; then move back 1 cm, move right 7 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39951643347740173, + -0.014484868384897709, + 0.09592210501432419, + -2.9915871620178223, + -0.21963858604431152, + -0.32665514945983887 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3975089192390442, + -0.06470976024866104, + 0.07049098610877991, + -2.981422185897827, + -0.16053801774978638, + -0.3157195746898651 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3969120979309082, + -0.11317367106676102, + 0.045133888721466064, + -3.005255699157715, + -0.11381586641073227, + -0.26372936367988586 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4018339216709137, + -0.12464042752981186, + 0.02117227576673031, + -3.0540058612823486, + -0.06713233888149261, + -0.17046967148780823 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow banana": [ + 659, + 380, + 780, + 575 + ], + "wooden countertop": [ + 16, + 125, + 827, + 959 + ], + "metal bowl": [ + 335, + 471, + 581, + 770 + ], + "blue cloth": [ + 335, + 258, + 579, + 490 + ], + "toy mushroom": [ + 380, + 500, + 579, + 669 + ], + "blue toaster": [ + 244, + 1, + 646, + 237 + ] + } + } + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4036381244659424, + -0.1277845948934555, + 0.01747319847345352, + -3.062514066696167, + -0.047054946422576904, + -0.14618951082229614 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot's end-effector is positioned directly above the spoon inside the metal bowl, with the gripper open and aligned for grasping. The approach and repositioning steps are complete. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40014347434043884, + -0.12202916294336319, + 0.017387548461556435, + -3.0396859645843506, + -0.06452824175357819, + -0.11551891267299652 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot is currently holding the spoon above the blue cloth, having completed the approach and grasp phases. The gripper is closed around the spoon handle, and the arm is positioned to begin moving the spoon to the right of the cloth. The next action is to translate the spoon rightward while maintaining a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39420434832572937, + -0.11586614698171616, + 0.018596669659018517, + -3.0184381008148193, + -0.08007338643074036, + -0.11083229631185532 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot is currently holding the spoon above the blue cloth, having completed the approach and grasp phases. The gripper is closed around the spoon handle, and the arm is positioned to begin moving the spoon to the right of the cloth. The next action is to translate the spoon rightward while maintaining a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.38944706320762634, + -0.10599888116121292, + 0.022389985620975494, + -3.005208969116211, + -0.08937763422727585, + -0.11774291098117828 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot is currently holding the spoon above the blue cloth, having completed the approach and grasp phases. The gripper is closed around the spoon handle, and the arm is positioned to begin moving the spoon to the right of the cloth. The next action is to translate the spoon rightward while maintaining a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.39213019609451294, + -0.08976223319768906, + 0.022745836526155472, + -2.9912843704223633, + -0.09389528632164001, + -0.10083986073732376 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toaster": [ + 244, + 1, + 644, + 235 + ], + "yellow banana": [ + 626, + 387, + 732, + 583 + ], + "blue cloth": [ + 336, + 258, + 578, + 490 + ], + "metal bowl": [ + 336, + 471, + 581, + 772 + ], + "yellow can": [ + 612, + 32, + 755, + 283 + ], + "wooden countertop": [ + 6, + 126, + 852, + 960 + ], + "black cat toy": [ + 622, + 8, + 904, + 517 + ], + "toy mushroom": [ + 380, + 500, + 579, + 670 + ] + } + } + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot is currently holding the spoon above the blue cloth, having completed the approach and grasp phases. The gripper is closed around the spoon handle, and the arm is positioned to begin moving the spoon to the right of the cloth. The next action is to translate the spoon rightward while maintaining a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3926844000816345, + -0.08433466404676437, + 0.022663157433271408, + -2.9784281253814697, + -0.08948996663093567, + -0.11023932695388794 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot is currently holding the spoon above the blue cloth, having completed the approach and grasp phases. The gripper is closed around the spoon handle, and the arm is positioned to begin moving the spoon to the right of the cloth. The next action is to translate the spoon rightward while maintaining a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39374127984046936, + -0.0799587294459343, + 0.0228146780282259, + -2.9713544845581055, + -0.08703222125768661, + -0.12419813871383667 + ], + "gripper_value": 0.4606100916862488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "transport spoon rightward", + "subtask_reasoning": "The robot is currently holding the spoon above the blue cloth, having completed the approach and grasp phases. The gripper is closed around the spoon handle, and the arm is positioned to begin moving the spoon to the right of the cloth. The next action is to translate the spoon rightward while maintaining a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3958236277103424, + -0.07591976225376129, + 0.021530065685510635, + -2.985460042953491, + -0.09305806457996368, + -0.133597731590271 + ], + "gripper_value": 0.7662391662597656 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The robot is currently holding the spoon above the blue cloth, having completed the approach and grasp phases. The gripper is closed around the spoon handle, and the arm is positioned to begin moving the spoon to the right of the cloth. The next action is to translate the spoon rightward while maintaining a stable grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3924088776111603, + -0.07526694238185883, + 0.018500318750739098, + -3.003852128982544, + -0.07862883806228638, + -0.14178591966629028 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon is currently held above the blue cloth, with the gripper open (value ~0.99), indicating the release action is underway or complete. The spoon has been successfully moved to the right of the cloth as per the goal. The next step is to confirm stable placement and retract the arm if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3942515254020691, + -0.07228673249483109, + 0.052788183093070984, + -3.0398547649383545, + -0.16145512461662292, + -0.13751320540905 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move spoon to right of blue cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp spoon" + }, + { + "id": 4, + "subtask": "transport spoon rightward" + }, + { + "id": 5, + "subtask": "release spoon" + } + ], + "subtask_name": "release spoon", + "subtask_reasoning": "The spoon is currently held above the blue cloth, with the gripper open (value ~0.99), indicating the release action is underway or complete. The spoon has been successfully moved to the right of the cloth as per the goal. The next step is to confirm stable placement and retract the arm if necessary." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000886_ecot.json b/cot/chunk-0000/episode_0000886_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8631673cca4bbb1d584105dd8d180825f0cf7f0b --- /dev/null +++ b/cot/chunk-0000/episode_0000886_ecot.json @@ -0,0 +1,1394 @@ +{ + "task_name": "episode_0000886", + "episode_json": "json/chunk-0000/episode_0000886.json", + "video_path": "videos/chunk-0000/image_0/episode_0000886.mp4", + "instruction": "Pick up pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000886.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.8613390922546387, + "std": 0.2845563292503357, + "delta_total": -0.8613390922546387, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.86134, std=0.28456, total_delta=-0.86134). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 216, + 216, + 216, + 216 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 13 + ], + [ + 4, + 14, + 15 + ], + [ + 5, + 16, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the pot while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"align with pot handle\", \"start\": 7, \"end\": 9, \"planning\": \"Fine-tune position and orientation to align gripper with the pot handle.\"},\n {\"id\": 3, \"name\": \"close gripper on handle\", \"start\": 10, \"end\": 13, \"planning\": \"Begin closing the gripper to make initial contact and secure grip on the pot handle.\"},\n {\"id\": 4, \"name\": \"secure grasp\", \"start\": 14, \"end\": 15, \"planning\": \"Continue closing gripper to firmly grasp the pot handle as evidenced by decreasing gripper value.\"},\n {\"id\": 5, \"name\": \"lift pot\", \"start\": 16, \"end\": 19, \"planning\": \"Lift the pot slightly while maintaining a firm grip, confirmed by continued gripper closure and upward motion.\"}\n ],\n \"global_plan\": \"Approach the pot, align with its handle, close the gripper to grasp it securely, then lift the pot.\",\n \"notes\": \"Gripper closure begins meaningfully in segment 3 (frames 10-13), supported by image evidence and state data. Segments 1 and 2 show no gripper movement, so contact-based descriptions are used. Lifting is inferred from upward z-motion and sustained gripper closure in segments 4 and 5.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the pot while keeping the gripper open." + }, + { + "id": 2, + "name": "align with pot handle", + "start": 7, + "end": 9, + "planning": "Fine-tune position and orientation to align gripper with the pot handle." + }, + { + "id": 3, + "name": "close gripper on handle", + "start": 10, + "end": 13, + "planning": "Begin closing the gripper to make initial contact and secure grip on the pot handle." + }, + { + "id": 4, + "name": "secure grasp", + "start": 14, + "end": 15, + "planning": "Continue closing gripper to firmly grasp the pot handle as evidenced by decreasing gripper value." + }, + { + "id": 5, + "name": "lift pot", + "start": 16, + "end": 19, + "planning": "Lift the pot slightly while maintaining a firm grip, confirmed by continued gripper closure and upward motion." + } + ], + "global_plan": "Approach the pot, align with its handle, close the gripper to grasp it securely, then lift the pot.", + "notes": "Gripper closure begins meaningfully in segment 3 (frames 10-13), supported by image evidence and state data. Segments 1 and 2 show no gripper movement, so contact-based descriptions are used. Lifting is inferred from upward z-motion and sustained gripper closure in segments 4 and 5." + } + }, + "episode_goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3191576898097992, + -0.03397097811102867, + 0.1765982061624527, + 3.111290454864502, + -0.624635636806488, + 0.46211934089660645 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stovetop with the metal pot visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 6 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31788334250450134, + -0.030023453757166862, + 0.16466408967971802, + -3.134946823120117, + -0.585488498210907, + 0.4733324646949768 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stovetop with the metal pot visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 4 cm, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31900423765182495, + -0.013480786234140396, + 0.15345624089241028, + 3.114551067352295, + -0.5151633620262146, + 0.5357309579849243 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stovetop with the metal pot visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end-effector closer to the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306715488433838, + 0.005964883603155613, + 0.15500156581401825, + 2.976419687271118, + -0.4549337923526764, + 0.6314587593078613 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pot visible below. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector toward the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3402036130428314, + 0.02102106250822544, + 0.149150088429451, + 2.9148311614990234, + -0.41190215945243835, + 0.690449059009552 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pot visible below. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector toward the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3440718948841095, + 0.016028208658099174, + 0.13495364785194397, + 2.915682554244995, + -0.362652063369751, + 0.6761742234230042 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pot visible below. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector toward the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35963162779808044, + 0.008457764983177185, + 0.12706983089447021, + 3.0855331420898438, + -0.2963634729385376, + 0.45444342494010925 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pot visible below. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector toward the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36646753549575806, + -0.011257275938987732, + 0.12123795598745346, + -3.0982887744903564, + -0.26339074969291687, + 0.2819559574127197 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 490, + 256, + 665, + 451 + ], + "green cup": [ + 455, + 271, + 522, + 357 + ], + "metal bowl": [ + 335, + 746, + 508, + 949 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "align with pot handle", + "subtask_reasoning": "The robot is positioned above the stovetop with the metal pot visible below. No grasping has occurred yet as the gripper remains fully open. The next action should involve lowering the end effector toward the pot's handle to prepare for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36938825249671936, + -0.011791020631790161, + 0.12158852815628052, + -3.1022260189056396, + -0.280803918838501, + 0.26505646109580994 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "align with pot handle", + "subtask_reasoning": "The robot is positioned near the metal pot on the stovetop, with the gripper open and aligned close to the pot's handle. The approach phase is complete, and the current focus is on fine-tuning alignment with the handle. The next action should involve minor adjustments to ensure precise positioning before grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36738747358322144, + -0.010622501373291016, + 0.11877871304750443, + -3.1306934356689453, + -0.2601916790008545, + 0.27136310935020447 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "align with pot handle", + "subtask_reasoning": "The robot is positioned near the metal pot on the stovetop, with the gripper open and aligned close to the pot's handle. The approach phase is complete, and the current focus is on fine-tuning alignment with the handle. The next action should involve minor adjustments to ensure precise positioning before grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36182457208633423, + -0.008564644493162632, + 0.11280050128698349, + 3.1387569904327393, + -0.227834552526474, + 0.2817951440811157 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot is positioned near the metal pot on the stovetop, with the gripper open and aligned close to the pot's handle. The approach phase is complete, and the current focus is on fine-tuning alignment with the handle. The next action should involve minor adjustments to ensure precise positioning before grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3527137339115143, + -0.00902815442532301, + 0.10155777633190155, + 3.118724822998047, + -0.1628573089838028, + 0.29575806856155396 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot is positioned near the pot handle with the gripper open and aligned. No closing motion has occurred yet in this segment, so the gripper remains ready to close. The next action is to initiate gripper closure around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3455430269241333, + -0.00954344030469656, + 0.07433944195508957, + 3.122441530227661, + -0.0550587996840477, + 0.30732351541519165 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 491, + 256, + 666, + 452 + ], + "green cup": [ + 453, + 272, + 521, + 357 + ], + "metal bowl": [ + 304, + 714, + 510, + 948 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot is positioned near the pot handle with the gripper open and aligned. No closing motion has occurred yet in this segment, so the gripper remains ready to close. The next action is to initiate gripper closure around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415609896183014, + -0.008403955027461052, + 0.06096898764371872, + 3.130643129348755, + -0.010786715894937515, + 0.31815633177757263 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "close gripper on handle", + "subtask_reasoning": "The robot is positioned near the pot handle with the gripper open and aligned. No closing motion has occurred yet in this segment, so the gripper remains ready to close. The next action is to initiate gripper closure around the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3370644152164459, + -0.008458765223622322, + 0.05324985831975937, + -3.1350913047790527, + -0.015830446034669876, + 0.34734615683555603 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "secure grasp", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the stovetop, with the gripper aligned to the pot's handle. The gripper is currently open, indicating that the approach and alignment phases are complete. The next immediate action is to close the gripper to secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 14, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366965055465698, + -0.006888552103191614, + 0.0516657754778862, + -3.118875503540039, + -0.026834843680262566, + 0.3720281422138214 + ], + "gripper_value": 0.570969820022583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "secure grasp", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the stovetop, with the gripper aligned to the pot's handle. The gripper is currently open, indicating that the approach and alignment phases are complete. The next immediate action is to close the gripper to secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 14, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34018370509147644, + -0.0057749017141759396, + 0.054644014686346054, + -3.111285924911499, + -0.04553231969475746, + 0.3693908154964447 + ], + "gripper_value": 0.4175282120704651 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The robot arm is positioned directly above the metal pot on the stovetop, with the gripper aligned to the pot's handle. The gripper is currently open, indicating that the approach and alignment phases are complete. The next immediate action is to close the gripper to secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409819006919861, + -0.005624431651085615, + 0.05622120574116707, + -3.0953800678253174, + -0.05970551446080208, + 0.38094690442085266 + ], + "gripper_value": 0.3746064603328705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The gripper is in contact with the pot handle and has closed significantly (gripper value 0.37), indicating a secure grasp. The robot is now positioned to lift the pot vertically from the stovetop. The next action is to execute an upward motion to complete the lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3429293930530548, + -0.010585490614175797, + 0.06142524257302284, + -3.089661121368408, + -0.09046592563390732, + 0.37773191928863525 + ], + "gripper_value": 0.2920950949192047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The gripper is in contact with the pot handle and has closed significantly (gripper value 0.37), indicating a secure grasp. The robot is now positioned to lift the pot vertically from the stovetop. The next action is to execute an upward motion to complete the lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450089693069458, + -0.016490304842591286, + 0.06733951717615128, + -3.0894405841827393, + -0.11886952817440033, + 0.37206530570983887 + ], + "gripper_value": 0.1394769847393036 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the metal pot on the stovetop by closing the gripper around its handle." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "align with pot handle" + }, + { + "id": 3, + "subtask": "close gripper on handle" + }, + { + "id": 4, + "subtask": "secure grasp" + }, + { + "id": 5, + "subtask": "lift pot" + } + ], + "subtask_name": "lift pot", + "subtask_reasoning": "The gripper is in contact with the pot handle and has closed significantly (gripper value 0.37), indicating a secure grasp. The robot is now positioned to lift the pot vertically from the stovetop. The next action is to execute an upward motion to complete the lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000887_ecot.json b/cot/chunk-0000/episode_0000887_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba05adb35a7847ba9c38ba24ff99d1d58fd23f7b --- /dev/null +++ b/cot/chunk-0000/episode_0000887_ecot.json @@ -0,0 +1,2885 @@ +{ + "task_name": "episode_0000887", + "episode_json": "json/chunk-0000/episode_0000887.json", + "video_path": "videos/chunk-0000/image_0/episode_0000887.mp4", + "instruction": "Move the yellow towel so that it is to the left of the can.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000887.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9367508292198181, + "std": 0.3998144268989563, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93675, std=0.39981, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 108, + 108, + 108, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 140, + 140, + 140, + 140, + 140 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 7 + ], + [ + 3, + 8, + 10 + ], + [ + 4, + 11, + 11 + ], + [ + 5, + 12, + 39 + ], + [ + 6, + 40, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 7, \"planning\": \"Move the gripper toward the yellow towel without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp towel\", \"start\": 8, \"end\": 11, \"planning\": \"Close the gripper to securely grasp the yellow towel, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition towel left of can\", \"start\": 12, \"end\": 39, \"planning\": \"Drag or slide the grasped towel horizontally to position it clearly to the left of the can, maintaining grip throughout.\"},\n {\"id\": 4, \"name\": \"release towel\", \"start\": 40, \"end\": 44, \"planning\": \"Open the gripper to release the towel after positioning, confirmed by gripper opening and final static pose.\"}\n ],\n \"global_plan\": \"Approach the yellow towel, grasp it firmly, drag it leftward until positioned to the left of the can, then release.\",\n \"notes\": \"Segment 1 (frames 0-3) and Segment 2 (frames 4-7) show no gripper closure — merged into approach phase. Segment 3 (8-10) shows strong gripper closure — valid for grasp. Segment 4 (11) is brief hold during transition. Segment 5 (12-39) is long manipulation phase with sustained grip. Segment 6 (40-44) shows gripper opening — valid for release. All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 7, + "planning": "Move the gripper toward the yellow towel without closing, preparing for contact." + }, + { + "id": 2, + "name": "grasp towel", + "start": 8, + "end": 11, + "planning": "Close the gripper to securely grasp the yellow towel, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "reposition towel left of can", + "start": 12, + "end": 39, + "planning": "Drag or slide the grasped towel horizontally to position it clearly to the left of the can, maintaining grip throughout." + }, + { + "id": 4, + "name": "release towel", + "start": 40, + "end": 44, + "planning": "Open the gripper to release the towel after positioning, confirmed by gripper opening and final static pose." + } + ], + "global_plan": "Approach the yellow towel, grasp it firmly, drag it leftward until positioned to the left of the can, then release.", + "notes": "Segment 1 (frames 0-3) and Segment 2 (frames 4-7) show no gripper closure — merged into approach phase. Segment 3 (8-10) shows strong gripper closure — valid for grasp. Segment 4 (11) is brief hold during transition. Segment 5 (12-39) is long manipulation phase with sustained grip. Segment 6 (40-44) shows gripper opening — valid for release. All frames covered contiguously." + } + }, + "episode_goal": "Move the yellow towel so that it is to the left of the can.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2020113319158554, + -0.08374163508415222, + 0.08789686858654022, + 3.101074457168579, + -0.026693236082792282, + -0.29214194416999817 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the can visible to the right. The gripper is open and approaching the towel, indicating the initial phase of the approach subtask. The next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move down 5 cm, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20082920789718628, + -0.08293892443180084, + 0.08453626185655594, + 3.1023011207580566, + -0.009983922354876995, + -0.29375529289245605 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the can visible to the right. The gripper is open and approaching the towel, indicating the initial phase of the approach subtask. The next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 13 cm, move down 5 cm, rotate clockwise 20 degrees, close gripper; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2039429247379303, + -0.06253030151128769, + 0.08222013711929321, + 3.1075124740600586, + 0.02254401333630085, + -0.23086802661418915 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the can visible to the right. The gripper is open and approaching the towel, indicating the initial phase of the approach subtask. The next action is to lower the gripper to make contact with the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 11 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20948518812656403, + -0.04084313288331032, + 0.07886952906847, + 3.1278624534606934, + 0.039746131747961044, + -0.18901894986629486 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red brush": [ + 138, + 480, + 283, + 606 + ], + "yellow sponge": [ + 259, + 456, + 543, + 791 + ], + "wooden countertop": [ + 7, + 197, + 879, + 988 + ], + "metal pot": [ + 605, + 461, + 809, + 796 + ], + "metal scoop": [ + 63, + 421, + 158, + 513 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the metal can to its right. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22046208381652832, + -0.013433578424155712, + 0.07484102249145508, + -3.1308605670928955, + 0.06337867677211761, + -0.11471565067768097 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the metal can to its right. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23139776289463043, + 0.013948565348982811, + 0.06989400833845139, + -3.1193642616271973, + 0.08044426143169403, + -0.05461876839399338 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the metal can to its right. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24240276217460632, + 0.03997143357992172, + 0.06064188852906227, + -3.1263487339019775, + 0.0687064453959465, + 0.0016635189531370997 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the metal can to its right. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2481723576784134, + 0.04461041837930679, + 0.04966770485043526, + -3.1258623600006104, + 0.05949649587273598, + 0.015837039798498154 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the metal can to its right. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539213001728058, + 0.04580351710319519, + 0.03907738998532295, + -3.124075412750244, + 0.046720776706933975, + -0.022483136504888535 + ], + "gripper_value": 0.3729017674922943 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "grasp towel", + "subtask_reasoning": "The robot is positioned above the yellow towel on the wooden surface, with the metal can to its right. No movement or grasping has occurred yet in this subtask. The next action should be to lower the gripper toward the towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548644542694092, + 0.04148123040795326, + 0.026039712131023407, + -3.137263298034668, + 0.029155338183045387, + -0.059736087918281555 + ], + "gripper_value": 0.15820781886577606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "grasp towel", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.259888619184494, + 0.03575706481933594, + 0.020791394636034966, + -3.1173083782196045, + -0.011321242898702621, + -0.13098812103271484 + ], + "gripper_value": 0.07018911838531494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red brush": [ + 138, + 480, + 283, + 605 + ], + "yellow sponge": [ + 259, + 506, + 565, + 790 + ], + "wooden countertop": [ + 6, + 184, + 878, + 988 + ], + "metal pot": [ + 561, + 428, + 808, + 796 + ], + "can": [ + 473, + 247, + 618, + 480 + ], + "metal scoop": [ + 61, + 420, + 158, + 513 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "grasp towel", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25896888971328735, + 0.03107823245227337, + 0.013944986276328564, + 3.1355478763580322, + 0.0013877261662855744, + -0.16635340452194214 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "grasp towel", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 3 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26175662875175476, + 0.03335168585181236, + 0.010991803370416164, + -3.131423234939575, + 0.006665268912911415, + -0.21147891879081726 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26448994874954224, + 0.03434523195028305, + 0.010645152069628239, + -3.1118643283843994, + -0.0026685905177146196, + -0.29164087772369385 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26737233996391296, + 0.03425944969058037, + 0.011130842380225658, + -3.100517749786377, + -0.014653418213129044, + -0.3936379551887512 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26939862966537476, + 0.03078228235244751, + 0.011127106845378876, + -3.114030122756958, + -0.033094026148319244, + -0.511576235294342 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709157466888428, + 0.030113017186522484, + 0.011801795102655888, + -3.1112239360809326, + -0.03266356885433197, + -0.5714293718338013 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2733190953731537, + 0.02758939191699028, + 0.01219942606985569, + -3.119189977645874, + -0.01912759803235531, + -0.6228170990943909 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27498897910118103, + 0.029700888320803642, + 0.01329157967120409, + -3.1085286140441895, + -0.006665153428912163, + -0.6732621192932129 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767171859741211, + 0.03522755578160286, + 0.01596451923251152, + -3.0986082553863525, + 0.0012422488071024418, + -0.6801397204399109 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27666088938713074, + 0.054166216403245926, + 0.014985415153205395, + -3.107867479324341, + 0.013872426934540272, + -0.6652909517288208 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 265, + 442, + 565, + 729 + ], + "red brush": [ + 137, + 480, + 282, + 605 + ], + "wooden countertop": [ + 7, + 182, + 878, + 985 + ], + "can": [ + 480, + 247, + 618, + 479 + ], + "metal pot": [ + 563, + 428, + 809, + 795 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809029519557953, + 0.06406377255916595, + 0.015152216888964176, + -3.1192779541015625, + 0.007563733961433172, + -0.6707747578620911 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28579550981521606, + 0.0700899213552475, + 0.012807915918529034, + -3.1293256282806396, + -0.006717545446008444, + -0.6709569692611694 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.293383926153183, + 0.0747682973742485, + 0.011759238317608833, + -3.128854990005493, + -0.04306790605187416, + -0.6779434680938721 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020804524421692, + 0.07941959798336029, + 0.01127978228032589, + -3.1187312602996826, + -0.050831377506256104, + -0.6865714192390442 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is positioned above the yellow towel with the gripper open, having completed the approach phase. The segment-level gripper evidence indicates a closing action is occurring or about to occur. The next immediate action is to close the gripper to firmly grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3073619604110718, + 0.08272269368171692, + 0.01121295802295208, + -3.1141576766967773, + -0.05524391308426857, + -0.6843473315238953 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142506778240204, + 0.08990669995546341, + 0.011276417411863804, + -3.1055867671966553, + -0.053420595824718475, + -0.6726956963539124 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200235962867737, + 0.09978625923395157, + 0.010670356452465057, + -3.1088602542877197, + -0.050140004605054855, + -0.6525501012802124 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 1 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3261865973472595, + 0.10543601214885712, + 0.010684474371373653, + -3.111297130584717, + -0.037432961165905, + -0.6545684337615967 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 2 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32833370566368103, + 0.1150696873664856, + 0.011513982899487019, + -3.102736473083496, + -0.01926274783909321, + -0.6402360796928406 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3288966119289398, + 0.13321644067764282, + 0.011979560367763042, + -3.0907397270202637, + -0.009915076196193695, + -0.6022659540176392 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3299138844013214, + 0.14561277627944946, + 0.011870085261762142, + -3.09147572517395, + -0.00016037019668146968, + -0.5764800906181335 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 211, + 302, + 485, + 539 + ], + "wooden countertop": [ + 8, + 184, + 878, + 987 + ], + "can": [ + 477, + 215, + 624, + 436 + ], + "metal pot": [ + 560, + 428, + 809, + 795 + ], + "grey cabinet": [ + 127, + 637, + 712, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33551937341690063, + 0.15380053222179413, + 0.01135110855102539, + -3.0868141651153564, + -0.0017265959177166224, + -0.5586057901382446 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3418005108833313, + 0.16083228588104248, + 0.011273803189396858, + -3.0786168575286865, + -0.00908483937382698, + -0.5407411456108093 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450721204280853, + 0.1623360514640808, + 0.011427263729274273, + -3.074842691421509, + -0.011950147338211536, + -0.5360986590385437 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3413843512535095, + 0.16123543679714203, + 0.011692706495523453, + -3.073587417602539, + -0.018575266003608704, + -0.5217412710189819 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 2 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.336671382188797, + 0.15864886343479156, + 0.015244358219206333, + -3.0819125175476074, + -0.023513615131378174, + -0.47432461380958557 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.33489271998405457, + 0.15824756026268005, + 0.02392282523214817, + -3.081252098083496, + -0.039138030260801315, + -0.37130415439605713 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3359508216381073, + 0.15992136299610138, + 0.02672790177166462, + -3.05853271484375, + -0.07809075713157654, + -0.29430973529815674 + ], + "gripper_value": 0.22426052391529083 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 2 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3363020718097687, + 0.16287097334861755, + 0.03289071470499039, + -3.0246737003326416, + -0.10080897063016891, + -0.25635194778442383 + ], + "gripper_value": 0.472818523645401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "reposition towel left of can", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 2 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.33484795689582825, + 0.15938059985637665, + 0.05277875438332558, + -3.018843412399292, + -0.12823830544948578, + -0.23644785583019257 + ], + "gripper_value": 0.7749528288841248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "release towel", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306305408477783, + 0.15089990198612213, + 0.07348045706748962, + -3.0341989994049072, + -0.13459375500679016, + -0.208356112241745 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "release towel", + "subtask_reasoning": "The robot is currently grasping the yellow towel on the wooden surface, with the can positioned to its right. The approach and grasp phases are complete, and the towel is ready to be moved. The next action is to drag the towel leftward to position it clearly to the left of the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250000774860382, + 0.13668771088123322, + 0.08481964468955994, + -3.0663061141967773, + -0.108568474650383, + -0.17262820899486542 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "release towel", + "subtask_reasoning": "The yellow towel is already positioned to the left of the can on the wooden surface. The gripper is open and no longer in contact with the towel, indicating the release action has been completed. No further movement or adjustment is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3215962052345276, + 0.11141423135995865, + 0.0927603617310524, + -3.096902847290039, + -0.09088622778654099, + -0.11161252856254578 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "release towel", + "subtask_reasoning": "The yellow towel is already positioned to the left of the can on the wooden surface. The gripper is open and no longer in contact with the towel, indicating the release action has been completed. No further movement or adjustment is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.31149303913116455, + 0.07709889858961105, + 0.10171225666999817, + -3.123307704925537, + -0.08995525538921356, + -0.11491456627845764 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 187, + 272, + 454, + 507 + ], + "can": [ + 480, + 215, + 624, + 437 + ], + "wooden countertop": [ + 6, + 189, + 877, + 986 + ], + "metal pot": [ + 560, + 428, + 810, + 795 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow towel so that it is to the left of the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "grasp towel" + }, + { + "id": 3, + "subtask": "reposition towel left of can" + }, + { + "id": 4, + "subtask": "release towel" + } + ], + "subtask_name": "release towel", + "subtask_reasoning": "The yellow towel is already positioned to the left of the can on the wooden surface. The gripper is open and no longer in contact with the towel, indicating the release action has been completed. No further movement or adjustment is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000888_ecot.json b/cot/chunk-0000/episode_0000888_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..20889283bdb330e6c56c08430b353ebe68c44f39 --- /dev/null +++ b/cot/chunk-0000/episode_0000888_ecot.json @@ -0,0 +1,2107 @@ +{ + "task_name": "episode_0000888", + "episode_json": "json/chunk-0000/episode_0000888.json", + "video_path": "videos/chunk-0000/image_0/episode_0000888.mp4", + "instruction": "Move the orange towel to in front of the cans of tomato sauce.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000888.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.001324295997619629, + "std": 0.0004897224716842175, + "delta_total": -0.0006629228591918945, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00132, std=0.00049, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 30 + ], + [ + 3, + 31, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach towel\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector from the initial position toward the orange towel on the table.\"},\n {\"id\": 2, \"name\": \"contact and push towel\", \"start\": 9, \"end\": 19, \"planning\": \"Make contact with the orange towel and push it forward toward the tomato sauce cans.\"},\n {\"id\": 3, \"name\": \"reposition and retreat\", \"start\": 20, \"end\": 30, \"planning\": \"Lift slightly and move the end-effector away from the towel after repositioning it in front of the cans.\"},\n {\"id\": 4, \"name\": \"final retreat\", \"start\": 31, \"end\": 31, \"planning\": \"Complete the motion by retreating to a neutral position above the workspace.\"}\n ],\n \"global_plan\": \"The robot approaches the orange towel, makes contact to push it into position in front of the tomato sauce cans, then retreats without grasping or lifting the towel.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is purely contact-based pushing followed by retreat. Segment boundaries respected with minor merging for natural phase grouping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach towel", + "start": 0, + "end": 8, + "planning": "Move the end-effector from the initial position toward the orange towel on the table." + }, + { + "id": 2, + "name": "contact and push towel", + "start": 9, + "end": 19, + "planning": "Make contact with the orange towel and push it forward toward the tomato sauce cans." + }, + { + "id": 3, + "name": "reposition and retreat", + "start": 20, + "end": 30, + "planning": "Lift slightly and move the end-effector away from the towel after repositioning it in front of the cans." + }, + { + "id": 4, + "name": "final retreat", + "start": 31, + "end": 31, + "planning": "Complete the motion by retreating to a neutral position above the workspace." + } + ], + "global_plan": "The robot approaches the orange towel, makes contact to push it into position in front of the tomato sauce cans, then retreats without grasping or lifting the towel.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is purely contact-based pushing followed by retreat. Segment boundaries respected with minor merging for natural phase grouping." + } + }, + "episode_goal": "Move the orange towel to in front of the cans of tomato sauce.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2624729871749878, + 0.054343078285455704, + 0.12167853862047195, + -3.136657953262329, + -0.2135418802499771, + 0.03125261515378952 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the orange towel visible in front and tomato sauce cans to the right. No actions have been completed yet as this is the start of the approach subtask. The gripper is open and the robot needs to move closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 14 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25919783115386963, + 0.05297647789120674, + 0.11398770660161972, + -3.140115976333618, + -0.18565137684345245, + 0.037724513560533524 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the orange towel visible in front and tomato sauce cans to the right. No actions have been completed yet as this is the start of the approach subtask. The gripper is open and the robot needs to move closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 14 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2521607279777527, + 0.03063897043466568, + 0.10366547852754593, + -3.135094165802002, + -0.16631042957305908, + -0.0005916892550885677 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the orange towel visible in front and tomato sauce cans to the right. No actions have been completed yet as this is the start of the approach subtask. The gripper is open and the robot needs to move closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24377559125423431, + 0.007716655731201172, + 0.09624489396810532, + -3.1254537105560303, + -0.16039729118347168, + -0.034454263746738434 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot is positioned above the table with the orange towel visible in front and tomato sauce cans to the right. No actions have been completed yet as this is the start of the approach subtask. The gripper is open and the robot needs to move closer to the towel to prepare for pushing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 10 cm, move down 8 cm, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23558713495731354, + -0.021285707131028175, + 0.08412516117095947, + -3.1329293251037598, + -0.14755423367023468, + -0.07522542029619217 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 7 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2362489253282547, + -0.0430590845644474, + 0.06463243067264557, + -3.134892463684082, + -0.10983622074127197, + -0.11388625204563141 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 5 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23760579526424408, + -0.059412311762571335, + 0.045255545526742935, + -3.103642225265503, + -0.09037809818983078, + -0.13489726185798645 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green fork": [ + 205, + 291, + 340, + 441 + ], + "metal bowl": [ + 370, + 213, + 491, + 414 + ], + "tomato sauce": [ + 633, + 41, + 784, + 299 + ], + "wooden countertop": [ + 7, + 130, + 938, + 966 + ], + "orange cloth": [ + 425, + 591, + 753, + 909 + ], + "blue objects": [ + 398, + 253, + 481, + 362 + ], + "corn": [ + 768, + 129, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, keep gripper open; then move forward 7 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23817718029022217, + -0.07179798185825348, + 0.026606248691678047, + -3.099356174468994, + -0.07409214973449707, + -0.1347515732049942 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, keep gripper open; then move forward 12 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23533260822296143, + -0.08505625277757645, + 0.015459838323295116, + -3.100721836090088, + -0.06572085618972778, + -0.13910451531410217 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "approach towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 15 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2354261726140976, + -0.0901317149400711, + 0.012710090726613998, + -3.1291537284851074, + -0.0790623351931572, + -0.11351495236158371 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23310014605522156, + -0.08858586102724075, + 0.010346627794206142, + -3.1141576766967773, + -0.07998434454202652, + -0.10851456224918365 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2333984375, + -0.08160058408975601, + 0.0056327772326767445, + -3.093871593475342, + -0.0766635462641716, + -0.10960682481527328 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2333371788263321, + -0.07725641876459122, + 0.0033376740757375956, + -3.0761101245880127, + -0.07546359300613403, + -0.12035603821277618 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2339065968990326, + -0.07589033246040344, + 0.0020997244864702225, + -3.0754966735839844, + -0.07243797928094864, + -0.11439972370862961 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot arm is positioned above the orange towel on the wooden counter, with tomato sauce cans visible in the background. No movement or contact has occurred yet. The next action is to lower the end-effector to make contact with the towel for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 20 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24408352375030518, + -0.07692848891019821, + 0.0032588005997240543, + -3.0679006576538086, + -0.07272936403751373, + -0.11579695343971252 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718198001384735, + -0.07642409950494766, + 0.0045877788215875626, + -3.054277181625366, + -0.08594653755426407, + -0.09935939311981201 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green fork": [ + 206, + 292, + 340, + 441 + ], + "metal bowl": [ + 370, + 210, + 559, + 421 + ], + "wooden countertop": [ + 7, + 134, + 940, + 979 + ], + "blue objects": [ + 399, + 255, + 492, + 364 + ], + "tomato sauce": [ + 656, + 41, + 784, + 261 + ], + "orange cloth": [ + 459, + 585, + 777, + 878 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3077108561992645, + -0.0711175873875618, + 0.0038926745764911175, + -3.057372808456421, + -0.11101055890321732, + -0.055175457149744034 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green fork": [ + 206, + 292, + 340, + 441 + ], + "metal bowl": [ + 369, + 216, + 560, + 420 + ], + "blue objects": [ + 398, + 255, + 492, + 363 + ], + "wooden countertop": [ + 5, + 135, + 940, + 974 + ], + "orange cloth": [ + 498, + 510, + 803, + 780 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.351872056722641, + -0.06292513757944107, + 0.004772357642650604, + -3.0589263439178467, + -0.1396729201078415, + -0.018151501193642616 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, keep gripper open; then move back 4 cm, move left 1 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3900633752346039, + -0.05608971789479256, + 0.004184268414974213, + -3.08740496635437, + -0.1520688682794571, + 0.025974677875638008 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4249318242073059, + -0.05027168616652489, + 0.0044111525639891624, + -3.11739444732666, + -0.16804412007331848, + 0.048408392816782 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "contact and push towel", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 11 cm, move left 2 cm, move up 13 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.43031635880470276, + -0.048338618129491806, + 0.0034443300683051348, + 3.139406204223633, + -0.15722545981407166, + 0.05603737756609917 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4250812828540802, + -0.050058167427778244, + 0.00632892083376646, + 3.1187703609466553, + -0.1517253965139389, + 0.047582611441612244 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4192095100879669, + -0.04412395507097244, + 0.012756378389894962, + 3.109626054763794, + -0.15196533501148224, + 0.04456164315342903 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 4 cm, move up 11 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.41728246212005615, + -0.036967359483242035, + 0.02729092910885811, + 3.115424633026123, + -0.16673541069030762, + 0.05446331575512886 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 3 cm, move up 9 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.41581353545188904, + -0.036838140338659286, + 0.06204908341169357, + 3.104199171066284, + -0.23798447847366333, + 0.059730902314186096 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the orange towel, positioned to push it forward. The approach phase is complete, and the arm is currently applying force to slide the towel toward the tomato sauce cans. The next action is to continue pushing the towel until it reaches the target position in front of the cans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 3 cm, move up 6 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40982720255851746, + -0.03710772097110748, + 0.07599116116762161, + 3.099128484725952, + -0.24505457282066345, + 0.055759232491254807 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been pushed into position in front of the tomato sauce cans. The gripper is open and not grasping the towel, consistent with the global and segment-level evidence. The robot is now retreating from the towel after completing the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 3 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4023079574108124, + -0.03844655305147171, + 0.10206260532140732, + 3.081329822540283, + -0.2861567735671997, + 0.05375518277287483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been pushed into position in front of the tomato sauce cans. The gripper is open and not grasping the towel, consistent with the global and segment-level evidence. The robot is now retreating from the towel after completing the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 3 cm, move up 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3883171081542969, + -0.03786517307162285, + 0.1183496043086052, + 3.0750555992126465, + -0.2961486279964447, + 0.056506358087062836 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 548, + 260, + 795, + 490 + ], + "green fork": [ + 206, + 290, + 341, + 441 + ], + "metal bowl": [ + 369, + 204, + 559, + 421 + ], + "white appliance": [ + 274, + 1, + 630, + 238 + ], + "wooden countertop": [ + 5, + 137, + 932, + 971 + ], + "blue objects": [ + 397, + 255, + 492, + 362 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been pushed into position in front of the tomato sauce cans. The gripper is open and not grasping the towel, consistent with the global and segment-level evidence. The robot is now retreating from the towel after completing the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35970616340637207, + -0.03722674772143364, + 0.13374021649360657, + 3.06284236907959, + -0.2961938977241516, + 0.05764470994472504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been pushed into position in front of the tomato sauce cans. The gripper is open and not grasping the towel, consistent with the global and segment-level evidence. The robot is now retreating from the towel after completing the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 3 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3201427161693573, + -0.02648959495127201, + 0.1352049708366394, + 3.096874952316284, + -0.2850090265274048, + 0.06759348511695862 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been pushed into position in front of the tomato sauce cans. The gripper is open and not grasping the towel, consistent with the global and segment-level evidence. The robot is now retreating from the towel after completing the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2877742052078247, + -0.013143992982804775, + 0.12406574934720993, + 3.127751111984253, + -0.2656928300857544, + 0.063689224421978 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "reposition and retreat", + "subtask_reasoning": "The orange towel has been pushed into position in front of the tomato sauce cans. The gripper is open and not grasping the towel, consistent with the global and segment-level evidence. The robot is now retreating from the towel after completing the repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26988521218299866, + -0.006678103934973478, + 0.12158869206905365, + -3.134277820587158, + -0.2597731053829193, + 0.04952982813119888 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange towel to in front of the cans of tomato sauce." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach towel" + }, + { + "id": 2, + "subtask": "contact and push towel" + }, + { + "id": 3, + "subtask": "reposition and retreat" + }, + { + "id": 4, + "subtask": "final retreat" + } + ], + "subtask_name": "final retreat", + "subtask_reasoning": "The orange towel is now positioned in front of the tomato sauce cans, completing the push phase. The gripper is fully open and the end-effector is retracting upward and backward, indicating the final retreat subtask is underway. The next action is to continue moving away from the scene to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000889_ecot.json b/cot/chunk-0000/episode_0000889_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..eb13e4abe99bb8b49d41d234ec2e46eef6eff267 --- /dev/null +++ b/cot/chunk-0000/episode_0000889_ecot.json @@ -0,0 +1,2965 @@ +{ + "task_name": "episode_0000889", + "episode_json": "json/chunk-0000/episode_0000889.json", + "video_path": "videos/chunk-0000/image_0/episode_0000889.mp4", + "instruction": "Unfold the cloth from top to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000889.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.9475747346878052, + "std": 0.4122353792190552, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94757, std=0.41224, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 27, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 27 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 17 + ], + [ + 3, + 18, + 26 + ], + [ + 4, + 27, + 27 + ], + [ + 5, + 28, + 40 + ], + [ + 6, + 41, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 12, \"planning\": \"Move gripper down toward the folded green cloth and close fingers to make initial contact.\"},\n {\"id\": 2, \"name\": \"reposition grip\", \"start\": 13, \"end\": 17, \"planning\": \"Adjust gripper orientation and position while maintaining light contact with cloth surface.\"},\n {\"id\": 3, \"name\": \"drag cloth downward\", \"start\": 18, \"end\": 26, \"planning\": \"Pull cloth diagonally toward bottom-right by sliding it across table while keeping gripper engaged.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 27, \"end\": 27, \"planning\": \"Open gripper fully and lift slightly to disengage from cloth after dragging phase.\"},\n {\"id\": 5, \"name\": \"final positioning\", \"start\": 28, \"end\": 40, \"planning\": \"Move gripper away from cloth area to clear workspace and prepare for next action or observation.\"},\n {\"id\": 6, \"name\": \"idle hold\", \"start\": 41, \"end\": 41, \"planning\": \"Maintain stationary pose above table with gripper open, indicating task completion.\"}\n ],\n \"global_plan\": \"Unfold the cloth by first approaching and making contact, then dragging it diagonally downward-right while maintaining grip, followed by releasing and retreating to complete the unfolding motion.\",\n \"notes\": \"Gripper closure is confirmed in segments 1 and 3; segment 4 shows release without grasp wording per evidence. Segment 6 is idle with no motion or grip change. All frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 12, + "planning": "Move gripper down toward the folded green cloth and close fingers to make initial contact." + }, + { + "id": 2, + "name": "reposition grip", + "start": 13, + "end": 17, + "planning": "Adjust gripper orientation and position while maintaining light contact with cloth surface." + }, + { + "id": 3, + "name": "drag cloth downward", + "start": 18, + "end": 26, + "planning": "Pull cloth diagonally toward bottom-right by sliding it across table while keeping gripper engaged." + }, + { + "id": 4, + "name": "release and retreat", + "start": 27, + "end": 27, + "planning": "Open gripper fully and lift slightly to disengage from cloth after dragging phase." + }, + { + "id": 5, + "name": "final positioning", + "start": 28, + "end": 40, + "planning": "Move gripper away from cloth area to clear workspace and prepare for next action or observation." + }, + { + "id": 6, + "name": "idle hold", + "start": 41, + "end": 41, + "planning": "Maintain stationary pose above table with gripper open, indicating task completion." + } + ], + "global_plan": "Unfold the cloth by first approaching and making contact, then dragging it diagonally downward-right while maintaining grip, followed by releasing and retreating to complete the unfolding motion.", + "notes": "Gripper closure is confirmed in segments 1 and 3; segment 4 shows release without grasp wording per evidence. Segment 6 is idle with no motion or grip change. All frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34732896089553833, + -0.016268648207187653, + 0.11805416643619537, + 3.0911495685577393, + -0.011833389289677143, + 0.2437835931777954 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the end-effector closer to the top edge of the cloth. The next action should be a controlled approach toward the cloth’s top edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452916741371155, + -0.01644083857536316, + 0.10167066752910614, + 3.1017444133758545, + 0.03353037312626839, + 0.2230326235294342 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the end-effector closer to the top edge of the cloth. The next action should be a controlled approach toward the cloth’s top edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33862316608428955, + -0.015309207141399384, + 0.08864372223615646, + 3.080244779586792, + 0.048612285405397415, + 0.03728144243359566 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the end-effector closer to the top edge of the cloth. The next action should be a controlled approach toward the cloth’s top edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250246047973633, + -0.007775166537612677, + 0.07292138040065765, + 3.084029197692871, + 0.07814120501279831, + -0.14395761489868164 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the end-effector closer to the top edge of the cloth. The next action should be a controlled approach toward the cloth’s top edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 5 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3173701763153076, + 0.012954858131706715, + 0.06858483701944351, + 3.0965044498443604, + 0.1059650182723999, + -0.3226821720600128 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the end-effector closer to the top edge of the cloth. The next action should be a controlled approach toward the cloth’s top edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162219524383545, + 0.029055539518594742, + 0.06170669570565224, + 3.118499279022217, + 0.09744489192962646, + -0.4264657199382782 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 5, + 995, + 994 + ], + "green cloth": [ + 159, + 290, + 603, + 705 + ], + "cables": [ + 3, + 13, + 241, + 133 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask requires moving the end-effector closer to the top edge of the cloth. The next action should be a controlled approach toward the cloth’s top edge to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32004234194755554, + 0.041358694434165955, + 0.056108858436346054, + 3.126493215560913, + 0.1221449002623558, + -0.46131694316864014 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216860592365265, + 0.04321706295013428, + 0.04796764254570007, + 3.099684476852417, + 0.14294284582138062, + -0.47634050250053406 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 3 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3223670423030853, + 0.04796208441257477, + 0.04268379881978035, + 3.092421293258667, + 0.12962421774864197, + -0.4687424302101135 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30913010239601135, + 0.046690721064805984, + 0.03244440257549286, + 3.0785481929779053, + 0.14716283977031708, + -0.4363616704940796 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 6, + 995, + 994 + ], + "green cloth": [ + 159, + 285, + 603, + 706 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move back 2 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31315186619758606, + 0.047723062336444855, + 0.03364451974630356, + 3.078234910964966, + 0.1145290806889534, + -0.4454520046710968 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move back 3 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3118089437484741, + 0.048551153391599655, + 0.028440631926059723, + 3.068544864654541, + 0.124684177339077, + -0.4387841522693634 + ], + "gripper_value": 0.9476637244224548 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31133800745010376, + 0.049079976975917816, + 0.02712610550224781, + 3.0760498046875, + 0.12590262293815613, + -0.43932074308395386 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move back 5 cm, move right 5 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115987479686737, + 0.04977118596434593, + 0.026584433391690254, + 3.0786705017089844, + 0.12603072822093964, + -0.4523231089115143 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114551305770874, + 0.04972760006785393, + 0.024889925494790077, + 3.0814647674560547, + 0.12060029059648514, + -0.45677927136421204 + ], + "gripper_value": 0.1423361748456955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot is positioned above the folded green cloth on a white table, with the gripper open and ready. No contact has been made yet, and the subtask of approaching the cloth is still in progress. The next action should involve lowering the gripper to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 3 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.305596262216568, + 0.04739781841635704, + 0.020802518352866173, + 3.0742173194885254, + 0.13398896157741547, + -0.45028579235076904 + ], + "gripper_value": 0.05868057906627655 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot has approached the green cloth and is now repositioning its grip on the top edge. The gripper is in contact with the cloth, preparing to pull it diagonally downward-right. The next action is to secure a firm grip before initiating the unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 8 cm, move right 6 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2953571081161499, + 0.0322771854698658, + 0.032120417803525925, + 3.094874858856201, + 0.1118651032447815, + -0.464643269777298 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot has approached the green cloth and is now repositioning its grip on the top edge. The gripper is in contact with the cloth, preparing to pull it diagonally downward-right. The next action is to secure a firm grip before initiating the unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 2 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move down 5 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805127501487732, + 0.014703817665576935, + 0.04252907633781433, + 3.1260437965393066, + 0.068365678191185, + -0.46301326155662537 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "reposition grip", + "subtask_reasoning": "The robot has approached the green cloth and is now repositioning its grip on the top edge. The gripper is in contact with the cloth, preparing to pull it diagonally downward-right. The next action is to secure a firm grip before initiating the unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 7 cm, move right 6 cm, move down 5 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691665291786194, + -0.001764642889611423, + 0.05197124928236008, + -3.122300624847412, + 0.043770693242549896, + -0.45654645562171936 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot has approached the green cloth and is now repositioning its grip on the top edge. The gripper is in contact with the cloth, preparing to pull it diagonally downward-right. The next action is to secure a firm grip before initiating the unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move down 5 cm, tilt back 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536828815937042, + -0.017557453364133835, + 0.0473865382373333, + -3.1113548278808594, + 0.024820761755108833, + -0.43249276280403137 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot has approached the green cloth and is now repositioning its grip on the top edge. The gripper is in contact with the cloth, preparing to pull it diagonally downward-right. The next action is to secure a firm grip before initiating the unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move down 5 cm, open gripper; then move up 1 cm, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2429850548505783, + -0.027976825833320618, + 0.03529846668243408, + -3.1163809299468994, + 0.0169001966714859, + -0.4284081757068634 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot has approached the green cloth and is now repositioning its grip on the top edge. The gripper is in contact with the cloth, preparing to pull it diagonally downward-right. The next action is to secure a firm grip before initiating the unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 3 cm, open gripper; then move up 1 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2298392802476883, + -0.04042944684624672, + 0.023188913241028786, + -3.0954177379608154, + 0.005063768941909075, + -0.40423595905303955 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot has approached the green cloth and is now repositioning its grip on the top edge. The gripper is in contact with the cloth, preparing to pull it diagonally downward-right. The next action is to secure a firm grip before initiating the unfolding motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open; then move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21578547358512878, + -0.05220131576061249, + 0.022755810990929604, + -3.0629117488861084, + -0.057197216898202896, + -0.4052317440509796 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is currently gripping the top edge of the green cloth, which is partially folded on the table. The gripper is closed and in contact with the cloth, indicating the grasp has been secured. The next action is to drag the cloth diagonally downward and to the right to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.20202948153018951, + -0.05941644683480263, + 0.021624406799674034, + -3.049191474914551, + -0.10988850891590118, + -0.38578423857688904 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 228, + 390, + 689, + 884 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is currently gripping the top edge of the green cloth, which is partially folded on the table. The gripper is closed and in contact with the cloth, indicating the grasp has been secured. The next action is to drag the cloth diagonally downward and to the right to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move up 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.19691267609596252, + -0.06360182911157608, + 0.02008422091603279, + -3.0559191703796387, + -0.09972202032804489, + -0.3676091730594635 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is currently gripping the top edge of the green cloth, which is partially folded on the table. The gripper is closed and in contact with the cloth, indicating the grasp has been secured. The next action is to drag the cloth diagonally downward and to the right to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt right 10 degrees, keep gripper open; then move up 1 cm, keep gripper open; then move forward 2 cm, move up 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.19164559245109558, + -0.06017589196562767, + 0.008746568113565445, + -3.094182014465332, + -0.07743026316165924, + -0.3588813543319702 + ], + "gripper_value": 0.23199117183685303 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 241, + 378, + 688, + 937 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is currently gripping the top edge of the green cloth, which is partially folded on the table. The gripper is closed and in contact with the cloth, indicating the grasp has been secured. The next action is to drag the cloth diagonally downward and to the right to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move up 1 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.1947246789932251, + -0.057766735553741455, + 0.0008507672464475036, + -3.135246753692627, + -0.07489713281393051, + -0.3729951083660126 + ], + "gripper_value": 0.48704639077186584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is currently gripping the top edge of the green cloth, which is partially folded on the table. The gripper is closed and in contact with the cloth, indicating the grasp has been secured. The next action is to drag the cloth diagonally downward and to the right to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 1 cm, keep gripper open; then move forward 6 cm, move left 3 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.19700905680656433, + -0.0595182329416275, + 0.0017211837694048882, + 3.1385700702667236, + -0.052807215601205826, + -0.3907976448535919 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table. The gripper is currently in contact with the cloth but not actively grasping, as segment-level evidence shows no meaningful closing. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move forward 7 cm, move left 4 cm, move up 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.19246093928813934, + -0.054810572415590286, + 0.015555379912257195, + -3.1007628440856934, + -0.03899853676557541, + -0.3546305298805237 + ], + "gripper_value": 0.9837720394134521 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table. The gripper is currently in contact with the cloth but not actively grasping, as segment-level evidence shows no meaningful closing. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move up 7 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.18727988004684448, + -0.053957171738147736, + 0.0363558866083622, + -3.079028606414795, + -0.04020465910434723, + -0.33335763216018677 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table. The gripper is currently in contact with the cloth but not actively grasping, as segment-level evidence shows no meaningful closing. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 7 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.19155839085578918, + -0.053978465497493744, + 0.0572173073887825, + -3.0729265213012695, + -0.047514982521533966, + -0.35649237036705017 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table. The gripper is currently in contact with the cloth but not actively grasping, as segment-level evidence shows no meaningful closing. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.19426608085632324, + -0.053918495774269104, + 0.07135824859142303, + -3.0692498683929443, + -0.04452383145689964, + -0.3513832986354828 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table. The gripper is currently in contact with the cloth but not actively grasping, as segment-level evidence shows no meaningful closing. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 10 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.19772495329380035, + -0.0607929490506649, + 0.08724882453680038, + -3.0463624000549316, + -0.03327042609453201, + -0.37207284569740295 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table. The gripper is currently in contact with the cloth but not actively grasping, as segment-level evidence shows no meaningful closing. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 11 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.20403921604156494, + -0.06196236237883568, + 0.10344777256250381, + -3.0218474864959717, + -0.05976621061563492, + -0.3899064064025879 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 193, + 468, + 589, + 844 + ], + "table": [ + 5, + 24, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The cloth has been unfolded and lies flat on the table. The gripper is currently in contact with the cloth but not actively grasping, as segment-level evidence shows no meaningful closing. The next action is to retreat the gripper upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 11 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.21344822645187378, + -0.0570501945912838, + 0.10710366070270538, + -3.038339376449585, + -0.06346051394939423, + -0.411591112613678 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is in the final positioning phase, holding the green cloth with a closed gripper as confirmed by segment-level evidence. The cloth is partially unfolded on the table, and the arm is positioned to complete the diagonal pull. The next action is to maintain grip while executing the final downward-right motion to fully flatten the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 11 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.23359538614749908, + -0.039954423904418945, + 0.09471320360898972, + -3.0923683643341064, + -0.02654021419584751, + -0.46852388978004456 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is in the final positioning phase, holding the green cloth with a closed gripper as confirmed by segment-level evidence. The cloth is partially unfolded on the table, and the arm is positioned to complete the diagonal pull. The next action is to maintain grip while executing the final downward-right motion to fully flatten the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.25294893980026245, + -0.028514020144939423, + 0.08795066922903061, + -3.113161325454712, + -0.00412257993593812, + -0.5531488656997681 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is in the final positioning phase, holding the green cloth with a closed gripper as confirmed by segment-level evidence. The cloth is partially unfolded on the table, and the arm is positioned to complete the diagonal pull. The next action is to maintain grip while executing the final downward-right motion to fully flatten the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655741572380066, + -0.012944350950419903, + 0.08681433647871017, + -3.1252338886260986, + -0.0006487020873464644, + -0.6177402138710022 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is in the final positioning phase, holding the green cloth with a closed gripper as confirmed by segment-level evidence. The cloth is partially unfolded on the table, and the arm is positioned to complete the diagonal pull. The next action is to maintain grip while executing the final downward-right motion to fully flatten the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.27680084109306335, + 0.008294730447232723, + 0.08811624348163605, + -3.120821952819824, + -0.01096387766301632, + -0.6463072299957275 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is in the final positioning phase, holding the green cloth with a closed gripper as confirmed by segment-level evidence. The cloth is partially unfolded on the table, and the arm is positioned to complete the diagonal pull. The next action is to maintain grip while executing the final downward-right motion to fully flatten the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28398481011390686, + 0.01678355224430561, + 0.08852879703044891, + -3.130258321762085, + 0.0011477231746539474, + -0.6183990836143494 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is in the final positioning phase, holding the green cloth with a closed gripper as confirmed by segment-level evidence. The cloth is partially unfolded on the table, and the arm is positioned to complete the diagonal pull. The next action is to maintain grip while executing the final downward-right motion to fully flatten the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2832263112068176, + 0.0371522456407547, + 0.08994511514902115, + -3.1342878341674805, + -0.019347703084349632, + -0.49431732296943665 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "final positioning", + "subtask_reasoning": "The robot is in the final positioning phase, holding the green cloth with a closed gripper as confirmed by segment-level evidence. The cloth is partially unfolded on the table, and the arm is positioned to complete the diagonal pull. The next action is to maintain grip while executing the final downward-right motion to fully flatten the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.28020498156547546, + 0.04971715435385704, + 0.09269972145557404, + 3.1296751499176025, + -0.014229352585971355, + -0.4330785572528839 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top edge of the folded green cloth and pull it downwards and to the right to unfold it flat on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "reposition grip" + }, + { + "id": 3, + "subtask": "drag cloth downward" + }, + { + "id": 4, + "subtask": "release and retreat" + }, + { + "id": 5, + "subtask": "final positioning" + }, + { + "id": 6, + "subtask": "idle hold" + } + ], + "subtask_name": "idle hold", + "subtask_reasoning": "The robot is positioned above the folded green cloth with gripper open, having completed approach and repositioning. No grasp has occurred yet in this segment; the next action should be to close the gripper onto the top edge of the cloth to initiate unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 41, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000890_ecot.json b/cot/chunk-0000/episode_0000890_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fa27e2b88653b0b5027cb5ebbba8ea570fa97876 --- /dev/null +++ b/cot/chunk-0000/episode_0000890_ecot.json @@ -0,0 +1,1788 @@ +{ + "task_name": "episode_0000890", + "episode_json": "json/chunk-0000/episode_0000890.json", + "video_path": "videos/chunk-0000/image_0/episode_0000890.mp4", + "instruction": "Take the green object and put it on middle of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000890.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.3807361125946045, + "std": 0.17603887617588043, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.38074, std=0.17604, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 20 + ], + [ + 2, + 21, + 24 + ], + [ + 3, + 25, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the green object on the stove while keeping the gripper open.\"},\n {\"id\": 2, \"name\": \"grasp green object\", \"start\": 10, \"end\": 20, \"planning\": \"Close the gripper around the green object and secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"reposition over stove center\", \"start\": 21, \"end\": 24, \"planning\": \"Lift and move the grasped green object toward the center of the stove while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release green object\", \"start\": 25, \"end\": 27, \"planning\": \"Open the gripper to release the green object onto the stove surface and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the green object, grasp it securely, reposition it over the center of the stove, and release it there.\",\n \"notes\": \"Segment 1 shows significant gripper closing (delta=-0.365) consistent with grasping; Segment 2 shows gripper opening (delta=+0.38) consistent with releasing after placement; Segment 3 has negligible gripper change, confirming release is complete and no further grasping occurs.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the green object on the stove while keeping the gripper open." + }, + { + "id": 2, + "name": "grasp green object", + "start": 10, + "end": 20, + "planning": "Close the gripper around the green object and secure it for manipulation." + }, + { + "id": 3, + "name": "reposition over stove center", + "start": 21, + "end": 24, + "planning": "Lift and move the grasped green object toward the center of the stove while maintaining grip." + }, + { + "id": 4, + "name": "release green object", + "start": 25, + "end": 27, + "planning": "Open the gripper to release the green object onto the stove surface and retreat slightly." + } + ], + "global_plan": "Approach the green object, grasp it securely, reposition it over the center of the stove, and release it there.", + "notes": "Segment 1 shows significant gripper closing (delta=-0.365) consistent with grasping; Segment 2 shows gripper opening (delta=+0.38) consistent with releasing after placement; Segment 3 has negligible gripper change, confirming release is complete and no further grasping occurs." + } + }, + "episode_goal": "Place the green object on the middle burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4197426438331604, + 0.06432750821113586, + 0.05527824908494949, + -3.0891010761260986, + -0.0829673483967781, + -0.07743430882692337 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object already resting on the left burner. The gripper is open and not in contact with the object. Since the object is already on the stove but not on the middle burner, the next action should be to move the end-effector toward the green object to prepare for grasping and repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4118748605251312, + 0.06364469975233078, + 0.033918578177690506, + -3.103512763977051, + -0.025077085942029953, + -0.06844276934862137 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object already resting on the left burner. The gripper is open and not in contact with the object. Since the object is already on the stove but not on the middle burner, the next action should be to move the end-effector toward the green object to prepare for grasping and repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.408037930727005, + 0.07479146122932434, + 0.028972115367650986, + -3.111015796661377, + -0.028791390359401703, + -0.012171388603746891 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object already resting on the left burner. The gripper is open and not in contact with the object. Since the object is already on the stove but not on the middle burner, the next action should be to move the end-effector toward the green object to prepare for grasping and repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.40179306268692017, + 0.09333091974258423, + 0.024416249245405197, + -3.1162760257720947, + -0.027712197974324226, + 0.014697781763970852 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot is positioned above the stove with the green object already resting on the left burner. The gripper is open and not in contact with the object. Since the object is already on the stove but not on the middle burner, the next action should be to move the end-effector toward the green object to prepare for grasping and repositioning it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38424599170684814, + 0.11329344660043716, + 0.011506068520247936, + -3.0805487632751465, + 0.00989100057631731, + 0.035201042890548706 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 301, + 462, + 375, + 567 + ], + "pot": [ + 236, + 444, + 413, + 623 + ], + "blue object": [ + 670, + 440, + 728, + 565 + ], + "sink": [ + 716, + 640, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 4 cm, move right 5 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.380819171667099, + 0.12586873769760132, + 0.013837532140314579, + -3.093627691268921, + -0.00010451237176312134, + 0.0968949943780899 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 7 cm, move right 9 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37773066759109497, + 0.14031749963760376, + 0.01602291129529476, + -3.0824639797210693, + 0.00019543690723367035, + 0.131460040807724 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 8 cm, move right 12 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.38022175431251526, + 0.14318835735321045, + 0.005586599465459585, + -3.077329158782959, + 0.03721467778086662, + 0.14938707649707794 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 10 cm, move right 13 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38007956743240356, + 0.14353077113628387, + -0.005430491641163826, + -3.076988935470581, + 0.07237882912158966, + 0.1556563377380371 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 9 cm, move right 13 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781350255012512, + 0.1432405710220337, + -0.01435003336519003, + -3.0809237957000732, + 0.10886073857545853, + 0.1578996181488037 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move right 13 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3801288902759552, + 0.14180558919906616, + -0.014294338412582874, + -3.0887861251831055, + 0.09761069715023041, + 0.14562268555164337 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 13 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3795664608478546, + 0.13911263644695282, + -0.014663023874163628, + -3.072997570037842, + 0.07993143796920776, + 0.13202665746212006 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.38044074177742004, + 0.13748051226139069, + -0.004504424054175615, + -3.06207537651062, + 0.043376751244068146, + 0.11802799254655838 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3936316967010498, + 0.12680017948150635, + 0.028302228078246117, + -3.0506856441497803, + -0.00421358086168766, + 0.09974905848503113 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42167752981185913, + 0.0912218689918518, + 0.05623814836144447, + -3.03574538230896, + -0.05235511437058449, + 0.010405540466308594 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the left burner of the stove, and the robot's end-effector is hovering above it with an open gripper. No grasping has occurred yet as the gripper remains open. The next action should involve closing the gripper to grasp the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.448739618062973, + 0.0515817366540432, + 0.07996100187301636, + -3.049588441848755, + -0.11754799634218216, + -0.09932658076286316 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the middle burner of the stove, indicating the grasp and placement have been completed. The gripper is open and not in contact with the object, suggesting the subtask is finished. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4648485481739044, + 0.026297036558389664, + 0.046939995139837265, + -3.0596683025360107, + -0.036543767899274826, + -0.19859792292118073 + ], + "gripper_value": 0.6380261182785034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the middle burner of the stove, indicating the grasp and placement have been completed. The gripper is open and not in contact with the object, suggesting the subtask is finished. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.47680360078811646, + 0.014215504750609398, + 0.022872839123010635, + -3.083638906478882, + 0.004960100166499615, + -0.238387793302536 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue object": [ + 670, + 443, + 726, + 564 + ], + "sink": [ + 717, + 639, + 993, + 991 + ], + "green object": [ + 532, + 344, + 602, + 478 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the middle burner of the stove, indicating the grasp and placement have been completed. The gripper is open and not in contact with the object, suggesting the subtask is finished. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.47284960746765137, + 0.012305082753300667, + -0.008893903344869614, + -3.115293502807617, + 0.07695081830024719, + -0.2552962601184845 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green object": [ + 539, + 415, + 598, + 536 + ], + "blue object": [ + 670, + 444, + 725, + 564 + ], + "sink": [ + 716, + 638, + 993, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the middle burner of the stove, indicating the grasp and placement have been completed. The gripper is open and not in contact with the object, suggesting the subtask is finished. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper closed; then move back 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.47141289710998535, + 0.012518946081399918, + -0.0191396102309227, + -3.1176047325134277, + 0.0892784520983696, + -0.26089146733283997 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the middle burner of the stove, indicating the grasp and placement have been completed. The gripper is open and not in contact with the object, suggesting the subtask is finished. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4657633304595947, + 0.011727642267942429, + -0.027740243822336197, + -3.1293399333953857, + 0.111781544983387, + -0.26746639609336853 + ], + "gripper_value": 0.6340072751045227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "grasp green object", + "subtask_reasoning": "The green object is already positioned on the middle burner of the stove, indicating the grasp and placement have been completed. The gripper is open and not in contact with the object, suggesting the subtask is finished. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.461019366979599, + 0.010929974727332592, + -0.03560933843255043, + 3.1400623321533203, + 0.12553995847702026, + -0.26866036653518677 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "reposition over stove center", + "subtask_reasoning": "The green object is already positioned on the middle burner of the stove, indicating the grasp and placement have been completed. The gripper is open and not in contact with the object, suggesting the subtask is finished. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.46023595333099365, + 0.009009622037410736, + -0.03747429698705673, + 3.131929874420166, + 0.12342201173305511, + -0.276828795671463 + ], + "gripper_value": 0.7131344676017761 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "reposition over stove center", + "subtask_reasoning": "The robot is holding the green object and has moved it above the stove area. The gripper remains closed, indicating the object is still secured. The next action is to lower the object slightly and release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4526538848876953, + 0.008170364424586296, + -0.04674585908651352, + 3.1232545375823975, + 0.12612608075141907, + -0.2989872694015503 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "reposition over stove center", + "subtask_reasoning": "The robot is holding the green object and has moved it above the stove area. The gripper remains closed, indicating the object is still secured. The next action is to lower the object slightly and release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.444411963224411, + 0.008422277867794037, + -0.03631163388490677, + 3.1415860652923584, + 0.07412358373403549, + -0.30538761615753174 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "reposition over stove center", + "subtask_reasoning": "The robot is holding the green object and has moved it above the stove area. The gripper remains closed, indicating the object is still secured. The next action is to lower the object slightly and release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4457305371761322, + 0.007832365110516548, + -0.017288291826844215, + -3.114424228668213, + -0.007383055053651333, + -0.3072367012500763 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The robot is holding the green object and has moved it above the stove area. The gripper remains closed, indicating the object is still secured. The next action is to lower the object slightly and release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.44034844636917114, + 0.00931230466812849, + -0.0012738642981275916, + -3.0842068195343018, + -0.054117437452077866, + -0.31277570128440857 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently positioned over the middle burner of the stove, with the gripper open and no active grasping motion. The object appears to have been released or is in the process of being released. The next action should confirm full release and ensure the object remains stably placed on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4316437542438507, + 0.0038400061894208193, + 0.016426244750618935, + -3.058995485305786, + -0.09314778447151184, + -0.3282254934310913 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the green object on the middle burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp green object" + }, + { + "id": 3, + "subtask": "reposition over stove center" + }, + { + "id": 4, + "subtask": "release green object" + } + ], + "subtask_name": "release green object", + "subtask_reasoning": "The green object is currently positioned over the middle burner of the stove, with the gripper open and no active grasping motion. The object appears to have been released or is in the process of being released. The next action should confirm full release and ensure the object remains stably placed on the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000893_ecot.json b/cot/chunk-0000/episode_0000893_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..17305c538266c00310123818cf7efbd520d7f044 --- /dev/null +++ b/cot/chunk-0000/episode_0000893_ecot.json @@ -0,0 +1,2286 @@ +{ + "task_name": "episode_0000893", + "episode_json": "json/chunk-0000/episode_0000893.json", + "video_path": "videos/chunk-0000/image_0/episode_0000893.mp4", + "instruction": "Pour almonds in pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000893.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.11862915754318237, + "std": 0.04636646434664726, + "delta_total": -0.0926634669303894, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.11863, std=0.04637, total_delta=-0.09266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 16 + ], + [ + 3, + 17, + 18 + ], + [ + 4, + 19, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach jar\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the almond jar without closing gripper, positioning for contact.\"},\n {\"id\": 2, \"name\": \"grasp jar\", \"start\": 12, \"end\": 16, \"planning\": \"Close gripper around jar body while maintaining position to secure hold.\"},\n {\"id\": 3, \"name\": \"lift and tilt jar\", \"start\": 17, \"end\": 18, \"planning\": \"Lift jar slightly and begin tilting it over the pot to initiate pouring.\"},\n {\"id\": 4, \"name\": \"pour almonds into pot\", \"start\": 19, \"end\": 34, \"planning\": \"Maintain tilted orientation of jar over pot to allow almonds to fall out; no gripper motion needed during pour.\"}\n ],\n \"global_plan\": \"Approach the almond jar, grasp it securely, lift and tilt it over the pot, then hold steady to pour almonds without further gripper adjustment.\",\n \"notes\": \"Gripper closure only occurs in segment 2 (frames 12–16), consistent with grasping. Segments 1, 3, and 4 show no meaningful gripper change — descriptions avoid 'grasp' or 'hold' where inappropriate. Pouring is achieved via orientation control, not gripper release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach jar", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the almond jar without closing gripper, positioning for contact." + }, + { + "id": 2, + "name": "grasp jar", + "start": 12, + "end": 16, + "planning": "Close gripper around jar body while maintaining position to secure hold." + }, + { + "id": 3, + "name": "lift and tilt jar", + "start": 17, + "end": 18, + "planning": "Lift jar slightly and begin tilting it over the pot to initiate pouring." + }, + { + "id": 4, + "name": "pour almonds into pot", + "start": 19, + "end": 34, + "planning": "Maintain tilted orientation of jar over pot to allow almonds to fall out; no gripper motion needed during pour." + } + ], + "global_plan": "Approach the almond jar, grasp it securely, lift and tilt it over the pot, then hold steady to pour almonds without further gripper adjustment.", + "notes": "Gripper closure only occurs in segment 2 (frames 12–16), consistent with grasping. Segments 1, 3, and 4 show no meaningful gripper change — descriptions avoid 'grasp' or 'hold' where inappropriate. Pouring is achieved via orientation control, not gripper release." + } + }, + "episode_goal": "Pour almonds from the jar into the orange bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.16158609092235565, + -0.01783853955566883, + 0.09655680507421494, + 3.136284589767456, + 0.0032698004506528378, + -0.3831697404384613 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl nearby. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the arm closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 8 cm, move down 4 cm, tilt forward 40 degrees, rotate clockwise 100 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.15650975704193115, + -0.017484277486801147, + 0.0948350802063942, + 3.074516534805298, + 0.03533795475959778, + -0.3477717638015747 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl nearby. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the arm closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 6 cm, move down 6 cm, tilt forward 40 degrees, rotate clockwise 100 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.17023099958896637, + 0.00111247634049505, + 0.11718709766864777, + 2.8469533920288086, + 0.034398291260004044, + -0.14615800976753235 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "glass jar": [ + 300, + 315, + 425, + 631 + ], + "orange bowl": [ + 454, + 474, + 700, + 757 + ], + "wooden counter": [ + 4, + 214, + 885, + 968 + ], + "apple slice": [ + 62, + 503, + 197, + 663 + ], + "red pepper": [ + 580, + 349, + 739, + 483 + ], + "tiled wall": [ + 273, + 8, + 977, + 459 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl nearby. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the arm closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 3 cm, move down 9 cm, tilt forward 20 degrees, rotate clockwise 90 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.18441733717918396, + 0.020425334572792053, + 0.13023638725280762, + 2.6916537284851074, + 0.09038477391004562, + 0.039441317319869995 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl nearby. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the arm closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 1 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 80 degrees, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2020021229982376, + 0.045109305530786514, + 0.13180769979953766, + 2.5894031524658203, + 0.15857504308223724, + 0.2829647958278656 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot is positioned near the almond jar on the countertop, with the orange bowl nearby. No actions have been completed yet. The gripper remains open and stationary, indicating the robot is preparing to approach the jar. The next action should involve moving the arm closer to the jar for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.21555328369140625, + 0.06564006209373474, + 0.12509122490882874, + 2.5565085411071777, + 0.27551743388175964, + 0.5300962924957275 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move right 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22620122134685516, + 0.07864342629909515, + 0.11904729157686234, + 2.627270221710205, + 0.39553114771842957, + 0.8007248044013977 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move right 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2422792762517929, + 0.08928979933261871, + 0.1074216440320015, + 2.7636773586273193, + 0.4901575446128845, + 1.1050697565078735 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25186973810195923, + 0.08734866231679916, + 0.09424293786287308, + 2.92836332321167, + 0.5534072518348694, + 1.3142155408859253 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.25685805082321167, + 0.07975895702838898, + 0.07889807224273682, + 3.031825065612793, + 0.6204065680503845, + 1.3976901769638062 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637798488140106, + 0.05939711630344391, + 0.05481911450624466, + 3.1038200855255127, + 0.664870023727417, + 1.4062871932983398 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, keep gripper open; then move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26558831334114075, + 0.04224579781293869, + 0.03940363600850105, + 3.13230562210083, + 0.6927632093429565, + 1.4061698913574219 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "approach jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 2 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678794264793396, + 0.02846761979162693, + 0.0308544784784317, + -3.1356894969940186, + 0.7191548943519592, + 1.4000706672668457 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 3 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637789249420166, + 0.0173962265253067, + 0.02447378635406494, + -3.1039113998413086, + 0.7700761556625366, + 1.3869141340255737 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp jar", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the almond jar which is located to the left of the orange bowl. No objects have been grasped yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the jar to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move up 2 cm, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26002123951911926, + 0.007017125841230154, + 0.024563932791352272, + -3.085108757019043, + 0.8395086526870728, + 1.3548448085784912 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp jar", + "subtask_reasoning": "The robot has approached the almond jar and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The jar is upright on the counter next to the orange bowl. The next action is to secure the grasp by fully closing the gripper on the jar before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move up 1 cm, tilt back 30 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2687779366970062, + -0.0006925230845808983, + 0.027367515489459038, + -3.097907781600952, + 0.8866335153579712, + 1.299059271812439 + ], + "gripper_value": 0.9165752530097961 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 471, + 473, + 702, + 756 + ], + "glass jar": [ + 350, + 335, + 484, + 646 + ], + "wooden counter": [ + 4, + 204, + 884, + 966 + ], + "tiled wall": [ + 273, + 9, + 990, + 466 + ], + "apple slice": [ + 63, + 503, + 200, + 663 + ], + "green cabbage": [ + 48, + 273, + 194, + 438 + ], + "green apple": [ + 69, + 425, + 190, + 527 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp jar", + "subtask_reasoning": "The robot has approached the almond jar and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The jar is upright on the counter next to the orange bowl. The next action is to secure the grasp by fully closing the gripper on the jar before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt back 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, tilt back 40 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.26848354935646057, + -0.005286031868308783, + 0.028988894075155258, + -3.138221025466919, + 0.7908397316932678, + 1.2228715419769287 + ], + "gripper_value": 0.8713903427124023 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "grasp jar", + "subtask_reasoning": "The robot has approached the almond jar and is now in contact with it, as indicated by the gripper closing signal and the end-effector position. The jar is upright on the counter next to the orange bowl. The next action is to secure the grasp by fully closing the gripper on the jar before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then tilt back 40 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27190786600112915, + 0.00013419636525213718, + 0.043519917875528336, + 3.135631561279297, + 0.5861368179321289, + 1.2395868301391602 + ], + "gripper_value": 0.8965065479278564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "lift and tilt jar", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, tilt back 40 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27082371711730957, + -0.0013078891206532717, + 0.07050406187772751, + 3.1101884841918945, + 0.3375021815299988, + 1.287994146347046 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "lift and tilt jar", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, tilt back 50 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26065826416015625, + -0.007832027040421963, + 0.09330568462610245, + -3.1158227920532227, + 0.21200212836265564, + 1.4154646396636963 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bowl": [ + 460, + 476, + 709, + 762 + ], + "wooden counter": [ + 4, + 146, + 884, + 967 + ], + "glass jar": [ + 372, + 255, + 550, + 492 + ], + "apple slice": [ + 64, + 503, + 202, + 663 + ], + "green apple": [ + 70, + 425, + 190, + 527 + ], + "green cabbage": [ + 50, + 273, + 194, + 438 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 1 cm, tilt back 50 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2476818561553955, + -0.013245828449726105, + 0.10733825713396072, + -3.041367769241333, + 0.06497158110141754, + 1.556096076965332 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, tilt back 40 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2478741854429245, + -0.01906682923436165, + 0.11818577349185944, + -3.04058575630188, + -0.09749121218919754, + 1.6504780054092407 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt back 40 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2531294822692871, + -0.021426178514957428, + 0.12076418101787567, + -3.0399136543273926, + -0.21620973944664001, + 1.726133942604065 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25697892904281616, + -0.013932626694440842, + 0.11270289123058319, + -3.0156688690185547, + -0.30814129114151, + 1.7668886184692383 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 30 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.261931836605072, + -0.0029573081992566586, + 0.10144530236721039, + -3.0018019676208496, + -0.4041271209716797, + 1.8068573474884033 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 1 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2643904685974121, + -4.868260657531209e-05, + 0.09536010026931763, + -3.001544713973999, + -0.4598246216773987, + 1.8463021516799927 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot has approached and grasped the almond jar, now lifting and tilting it over the orange bowl. The gripper remains stable with no significant closing motion, indicating the jar is already held securely. The next action is to maintain tilt and position to begin pouring almonds into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.26174575090408325, + -0.011724204756319523, + 0.0934840515255928, + -2.980903387069702, + -0.5061755776405334, + 1.8543933629989624 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539147436618805, + -0.02827632613480091, + 0.09254445880651474, + -2.976539134979248, + -0.5605921745300293, + 1.8610458374023438 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24768587946891785, + -0.03923693299293518, + 0.08859139680862427, + -2.976300001144409, + -0.6223405003547668, + 1.8696240186691284 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden counter": [ + 4, + 148, + 884, + 967 + ], + "glass jar": [ + 329, + 362, + 619, + 550 + ], + "red tomato": [ + 266, + 205, + 354, + 312 + ], + "orange bowl": [ + 456, + 495, + 707, + 758 + ], + "tiled wall": [ + 261, + 6, + 989, + 459 + ] + } + } + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.24414251744747162, + -0.04050803557038307, + 0.08448940515518188, + -2.942737579345703, + -0.6735056042671204, + 1.8895409107208252 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.24224281311035156, + -0.03712550550699234, + 0.08347314596176147, + -2.898759126663208, + -0.7097587585449219, + 1.9688366651535034 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24212029576301575, + -0.03234206512570381, + 0.08528723567724228, + -2.887664794921875, + -0.7729535102844238, + 2.0447371006011963 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24185971915721893, + -0.03545268625020981, + 0.08474230021238327, + -2.8746979236602783, + -0.7923365235328674, + 2.061021089553833 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24097667634487152, + -0.0358286090195179, + 0.08693461865186691, + -2.8851473331451416, + -0.8080511093139648, + 2.090043067932129 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2337045520544052, + -0.035477012395858765, + 0.09071588516235352, + -2.8699898719787598, + -0.8493214845657349, + 2.1328930854797363 + ], + "gripper_value": 0.8973560333251953 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pour almonds from the jar into the orange bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach jar" + }, + { + "id": 2, + "subtask": "grasp jar" + }, + { + "id": 3, + "subtask": "lift and tilt jar" + }, + { + "id": 4, + "subtask": "pour almonds into pot" + } + ], + "subtask_name": "pour almonds into pot", + "subtask_reasoning": "The robot arm is holding the almond jar tilted over the orange bowl, with almonds visibly pouring out. The pouring action is currently in progress as the jar remains inverted above the target. The next step is to maintain this position until the desired amount is dispensed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000894_ecot.json b/cot/chunk-0000/episode_0000894_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bd398b41e3d2ea8468474da6918cab1a8ebd0ac2 --- /dev/null +++ b/cot/chunk-0000/episode_0000894_ecot.json @@ -0,0 +1,2558 @@ +{ + "task_name": "episode_0000894", + "episode_json": "json/chunk-0000/episode_0000894.json", + "video_path": "videos/chunk-0000/image_0/episode_0000894.mp4", + "instruction": "Unfold cloth from top left to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000894.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9599329233169556, + "std": 0.4409956634044647, + "delta_total": 0.0013339519500732422, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95993, std=0.44100, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 232, + 232, + 232, + 232, + 232, + 232 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 13 + ], + [ + 3, + 14, + 24 + ], + [ + 4, + 25, + 31 + ], + [ + 5, + 32, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward top-left corner of the orange cloth without grasping, as gripper remains fully open throughout segment.\"},\n {\"id\": 2, \"name\": \"grasp cloth corner\", \"start\": 7, \"end\": 13, \"planning\": \"Close gripper to securely grasp the top-left corner of the cloth, confirmed by significant gripper closure and visual contact in frame 13.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 14, \"end\": 24, \"planning\": \"Pull the grasped cloth corner diagonally across the stovetop surface toward bottom-right, maintaining grip while translating end-effector.\"},\n {\"id\": 4, \"name\": \"release cloth at target\", \"start\": 25, \"end\": 31, \"planning\": \"Open gripper to release the cloth after reaching the bottom-right target zone, evidenced by increasing gripper value and visible separation in frame 31.\"},\n {\"id\": 5, \"name\": \"retreat from cloth\", \"start\": 32, \"end\": 37, \"planning\": \"Lift and retract end-effector away from the unfolded cloth to complete the task, with gripper fully open and no further contact.\"}\n ],\n \"global_plan\": \"Unfold the orange cloth by grasping its top-left corner, dragging it diagonally to the bottom-right of the stovetop, then releasing and retreating.\",\n \"notes\": \"Segment 3 (frames 14-24) lacks explicit gripper data but is inferred as continuous drag phase based on motion continuity between grasp (seg2) and release (seg4). All subtasks are contiguous and cover full trajectory. Gripper-based verbs used only where segment-level evidence supports meaningful closing or opening.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 6, + "planning": "Move end-effector toward top-left corner of the orange cloth without grasping, as gripper remains fully open throughout segment." + }, + { + "id": 2, + "name": "grasp cloth corner", + "start": 7, + "end": 13, + "planning": "Close gripper to securely grasp the top-left corner of the cloth, confirmed by significant gripper closure and visual contact in frame 13." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 14, + "end": 24, + "planning": "Pull the grasped cloth corner diagonally across the stovetop surface toward bottom-right, maintaining grip while translating end-effector." + }, + { + "id": 4, + "name": "release cloth at target", + "start": 25, + "end": 31, + "planning": "Open gripper to release the cloth after reaching the bottom-right target zone, evidenced by increasing gripper value and visible separation in frame 31." + }, + { + "id": 5, + "name": "retreat from cloth", + "start": 32, + "end": 37, + "planning": "Lift and retract end-effector away from the unfolded cloth to complete the task, with gripper fully open and no further contact." + } + ], + "global_plan": "Unfold the orange cloth by grasping its top-left corner, dragging it diagonally to the bottom-right of the stovetop, then releasing and retreating.", + "notes": "Segment 3 (frames 14-24) lacks explicit gripper data but is inferred as continuous drag phase based on motion continuity between grasp (seg2) and release (seg4). All subtasks are contiguous and cover full trajectory. Gripper-based verbs used only where segment-level evidence supports meaningful closing or opening." + } + }, + "episode_goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35013848543167114, + 0.1328311264514923, + 0.11927500367164612, + 2.9933154582977295, + -0.18321654200553894, + 0.8996847867965698 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the stovetop where an orange cloth is folded on the left side. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is approaching the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 9 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3472755551338196, + 0.12956218421459198, + 0.10673295706510544, + 3.0068416595458984, + -0.14642515778541565, + 0.9007769823074341 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the stovetop where an orange cloth is folded on the left side. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is approaching the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 8 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34167829155921936, + 0.114759661257267, + 0.09333641082048416, + 2.9856886863708496, + -0.0820898562669754, + 0.9577392339706421 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the stovetop where an orange cloth is folded on the left side. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is approaching the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34059938788414, + 0.11039133369922638, + 0.08865050971508026, + 2.984180450439453, + -0.07199973613023758, + 0.9984732866287231 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the stovetop where the orange cloth is folded. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34407541155815125, + 0.0972123071551323, + 0.07864337414503098, + 2.9901986122131348, + -0.08880691230297089, + 1.0503016710281372 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the stovetop where the orange cloth is folded. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35273265838623047, + 0.08215215057134628, + 0.05649583041667938, + 2.971031904220581, + -0.11270502954721451, + 1.113299012184143 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 835, + 335, + 994, + 571 + ], + "orange cloth": [ + 114, + 347, + 556, + 549 + ], + "sink": [ + 745, + 611, + 993, + 991 + ], + "black device": [ + 225, + 6, + 452, + 466 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the stovetop where the orange cloth is folded. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 3 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3625513017177582, + 0.08201450109481812, + 0.04382292553782463, + 2.9089572429656982, + -0.11907458305358887, + 1.2043205499649048 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the stovetop where the orange cloth is folded. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move down 3 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36673855781555176, + 0.08100082725286484, + 0.02528560347855091, + 2.93701434135437, + -0.11972609907388687, + 1.219849944114685 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned above the stovetop where the orange cloth is folded. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 3 cm, close gripper; then move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3796103298664093, + 0.07021459192037582, + 0.01857749931514263, + 2.951648712158203, + -0.1340635120868683, + 1.1937286853790283 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned above the stovetop where the orange cloth is folded. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3826630413532257, + 0.07096017897129059, + 0.010571413673460484, + 2.9740309715270996, + -0.13860736787319183, + 1.1896915435791016 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned above the stovetop where the orange cloth is folded. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move closer to the top-left corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, close gripper; then move back 2 cm, move right 1 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3858145475387573, + 0.07089632004499435, + 0.0067392997443675995, + 2.975421905517578, + -0.13547897338867188, + 1.1969584226608276 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, close gripper; then move back 3 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.390356183052063, + 0.06533923745155334, + 0.0023070720490068197, + 2.9860336780548096, + -0.13930828869342804, + 1.1846643686294556 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3932235836982727, + 0.06470804661512375, + -0.00038135479553602636, + 2.993821382522583, + -0.1535591036081314, + 1.1949635744094849 + ], + "gripper_value": 0.9351479411125183 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move back 7 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3962450623512268, + 0.05877452343702316, + -0.0039832149632275105, + 3.0139925479888916, + -0.20949997007846832, + 1.1876600980758667 + ], + "gripper_value": 0.6279802918434143 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move right 3 cm, move up 8 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984494209289551, + 0.05511393025517464, + -0.0038864058442413807, + 3.000276803970337, + -0.21302153170108795, + 1.190210223197937 + ], + "gripper_value": 0.33559030294418335 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 835, + 334, + 994, + 570 + ], + "sink": [ + 745, + 611, + 993, + 991 + ], + "orange cloth": [ + 118, + 330, + 562, + 553 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 3 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.399029403924942, + 0.05389413982629776, + -0.0037495174910873175, + 2.991060256958008, + -0.20139093697071075, + 1.2031365633010864 + ], + "gripper_value": 0.1623418778181076 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39793917536735535, + 0.0499764084815979, + -0.0041862973012030125, + 2.9865505695343018, + -0.17396143078804016, + 1.1958669424057007 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed; then move back 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3943527042865753, + 0.0496106892824173, + 0.001125867827795446, + 2.98728084564209, + -0.14154449105262756, + 1.1928625106811523 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 3 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.39018136262893677, + 0.04723915457725525, + 0.02868909388780594, + 2.9646873474121094, + -0.13268770277500153, + 1.1899864673614502 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808438181877136, + 0.04400217533111572, + 0.050459325313568115, + 2.934490442276001, + -0.1052154079079628, + 1.1783089637756348 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3670962452888489, + 0.03899543732404709, + 0.06452014297246933, + 2.9118051528930664, + -0.09958414733409882, + 1.1451623439788818 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34488755464553833, + 0.03527043014764786, + 0.07167234271764755, + 2.912830114364624, + -0.10121265053749084, + 1.111285924911499 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32455337047576904, + 0.029965778812766075, + 0.07724536210298538, + 2.908141851425171, + -0.0893947035074234, + 1.088235855102539 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3013502359390259, + 0.0234393198043108, + 0.0776091143488884, + 2.899196147918701, + -0.06376013904809952, + 1.098313331604004 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.28258323669433594, + 0.022394809871912003, + 0.061027634888887405, + 2.933212995529175, + -0.03814293071627617, + 1.1599235534667969 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper; then move forward 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645571231842041, + 0.019293714314699173, + 0.04395868256688118, + 2.9746060371398926, + -0.023075444623827934, + 1.2340303659439087 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, open gripper; then move forward 3 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.24535007774829865, + 0.014317729510366917, + 0.026239315047860146, + 3.0273077487945557, + -0.027684751898050308, + 1.2797361612319946 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, open gripper; then move forward 4 cm, move left 1 cm, move up 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22664731740951538, + 0.012992961332201958, + 0.0071172527968883514, + 3.0877861976623535, + -0.028860144317150116, + 1.3210800886154175 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 834, + 335, + 993, + 573 + ], + "sink": [ + 744, + 611, + 993, + 991 + ], + "orange cloth": [ + 159, + 379, + 559, + 828 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot is currently holding the top-left corner of the orange cloth, which is partially bunched on the stovetop. Having completed the approach and grasp phases, the arm is positioned to execute the diagonal dragging motion. The immediate next action is to move the end-effector towards the bottom-right to unfold the fabric across the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper; then move forward 5 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22116953134536743, + 0.01169541198760271, + -0.004147103521972895, + 3.1144814491271973, + -0.03546208143234253, + 1.3268153667449951 + ], + "gripper_value": 0.050636038184165955 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot has dragged the orange cloth diagonally across the stovetop and is now positioned near the target bottom-right area. The gripper is currently closed, holding the cloth corner. The next action is to open the gripper to release the cloth and complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 5 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2219623327255249, + 0.01345664169639349, + -0.007706403266638517, + 3.117806911468506, + -0.050307150930166245, + 1.3253542184829712 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot has dragged the orange cloth diagonally across the stovetop and is now positioned near the target bottom-right area. The gripper is currently closed, holding the cloth corner. The next action is to open the gripper to release the cloth and complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 5 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2257918119430542, + 0.012457695789635181, + -0.007522040046751499, + 3.1312263011932373, + -0.039252009242773056, + 1.3214353322982788 + ], + "gripper_value": 0.22810569405555725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot has dragged the orange cloth diagonally across the stovetop and is now positioned near the target bottom-right area. The gripper is currently closed, holding the cloth corner. The next action is to open the gripper to release the cloth and complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 5 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.22683767974376678, + 0.009929316118359566, + -0.005907549988478422, + 3.131869316101074, + -0.022323286160826683, + 1.3177953958511353 + ], + "gripper_value": 0.4466742277145386 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot has dragged the orange cloth diagonally across the stovetop and is now positioned near the target bottom-right area. The gripper is currently closed, holding the cloth corner. The next action is to open the gripper to release the cloth and complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 5 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.22230780124664307, + 0.006554344668984413, + -0.004050960298627615, + -3.114896774291992, + 0.012290547601878643, + 1.3027524948120117 + ], + "gripper_value": 0.7329457402229309 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has dragged the orange cloth diagonally across the stovetop and is now positioned near the target bottom-right area. The gripper is currently closed, holding the cloth corner. The next action is to open the gripper to release the cloth and complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22991405427455902, + 0.01028440985828638, + 0.010026006028056145, + -3.0952372550964355, + -0.0031224151607602835, + 1.2693334817886353 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The robot has dragged the orange cloth diagonally across the stovetop and is now positioned near the target bottom-right area. The gripper is currently closed, holding the cloth corner. The next action is to open the gripper to release the cloth and complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.23906123638153076, + 0.0111404899507761, + 0.03562183678150177, + 3.140806198120117, + -0.020860830321907997, + 1.257336974143982 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth is fully unfolded on the stovetop, and the gripper is open and positioned above it. The retreat subtask is underway, with the arm moving away from the cloth after release. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 32, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24910546839237213, + 0.010517880320549011, + 0.0658278837800026, + 3.0927066802978516, + -0.022240767255425453, + 1.2084323167800903 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 834, + 335, + 993, + 571 + ], + "sink": [ + 744, + 611, + 993, + 991 + ], + "orange cloth": [ + 159, + 371, + 567, + 860 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth is fully unfolded on the stovetop, and the gripper is open and positioned above it. The retreat subtask is underway, with the arm moving away from the cloth after release. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2582835257053375, + 0.013737955130636692, + 0.0914306715130806, + 3.0574111938476562, + -0.05544529855251312, + 1.1749600172042847 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth is fully unfolded on the stovetop, and the gripper is open and positioned above it. The retreat subtask is underway, with the arm moving away from the cloth after release. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709055244922638, + 0.015681346878409386, + 0.10983031988143921, + 3.0589864253997803, + -0.07793145626783371, + 1.085680603981018 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the top-left corner of the orange cloth and pull it diagonally towards the bottom-right to unfold it flat on the stovetop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target" + }, + { + "id": 5, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The orange cloth is fully unfolded on the stovetop, and the gripper is open and positioned above it. The retreat subtask is underway, with the arm moving away from the cloth after release. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 32, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000896_ecot.json b/cot/chunk-0000/episode_0000896_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a8754aec5d946184bf619256b84e47601d98e322 --- /dev/null +++ b/cot/chunk-0000/episode_0000896_ecot.json @@ -0,0 +1,1216 @@ +{ + "task_name": "episode_0000896", + "episode_json": "json/chunk-0000/episode_0000896.json", + "video_path": "videos/chunk-0000/image_0/episode_0000896.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000896.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.9524381160736084, + "std": 0.42424067854881287, + "delta_total": -0.9524381160736084, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95244, std=0.42424, total_delta=-0.95244). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 13 + ], + [ + 3, + 14, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp lever\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector to the lever and close gripper to establish a firm grasp.\"},\n {\"id\": 2, \"name\": \"rotate lever to vertical front\", \"start\": 7, \"end\": 13, \"planning\": \"While holding the lever, rotate it upward and forward until it reaches a vertical orientation facing the front.\"},\n {\"id\": 3, \"name\": \"release and retreat\", \"start\": 14, \"end\": 19, \"planning\": \"Open gripper to release the lever and move end-effector away to complete the task.\"}\n ],\n \"global_plan\": \"Grasp the lever, rotate it to a vertical front-facing position, then release and retreat.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.19953) consistent with grasping; Segment 2 continues with strong closing (delta=-0.43538) during rotation; Segment 3 has no gripper change (delta=0), so release and retreat are appropriate without grasp-related actions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp lever", + "start": 0, + "end": 6, + "planning": "Move end-effector to the lever and close gripper to establish a firm grasp." + }, + { + "id": 2, + "name": "rotate lever to vertical front", + "start": 7, + "end": 13, + "planning": "While holding the lever, rotate it upward and forward until it reaches a vertical orientation facing the front." + }, + { + "id": 3, + "name": "release and retreat", + "start": 14, + "end": 19, + "planning": "Open gripper to release the lever and move end-effector away to complete the task." + } + ], + "global_plan": "Grasp the lever, rotate it to a vertical front-facing position, then release and retreat.", + "notes": "Segment 1 shows gripper closing (delta=-0.19953) consistent with grasping; Segment 2 continues with strong closing (delta=-0.43538) during rotation; Segment 3 has no gripper change (delta=0), so release and retreat are appropriate without grasp-related actions." + } + }, + "episode_goal": "Grasp the lever and rotate it to a vertical orientation facing the front.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3195189833641052, + 0.014643443748354912, + 0.08977150171995163, + -2.8849565982818604, + -0.23873916268348694, + -0.0731903538107872 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the drawer, with the gripper open and not yet in contact with the lever. No part of the subtask has been completed. The next action should be to move the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 5 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32147568464279175, + 0.012516094371676445, + 0.08233773708343506, + -2.8877642154693604, + -0.22438162565231323, + -0.07909203320741653 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the drawer, with the gripper open and not yet in contact with the lever. No part of the subtask has been completed. The next action should be to move the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper; then move back 7 cm, move right 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3364222049713135, + 0.009156518615782261, + 0.08866717666387558, + -2.898822784423828, + -0.2689476013183594, + -0.08915729075670242 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot arm is positioned above the drawer, with the gripper open and not yet in contact with the lever. No part of the subtask has been completed. The next action should be to move the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, close gripper; then move back 8 cm, move right 1 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3499496877193451, + 0.0030449896585196257, + 0.09423303604125977, + -2.921248435974121, + -0.2957514524459839, + -0.12092702090740204 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should involve moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move back 8 cm, move right 1 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36325010657310486, + -0.0017202612943947315, + 0.10059016197919846, + -2.9536404609680176, + -0.3264888823032379, + -0.12714499235153198 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 505, + 655, + 632, + 879 + ], + "white fork": [ + 489, + 619, + 688, + 715 + ], + "purple eggplant": [ + 375, + 545, + 461, + 712 + ], + "yellow lemon": [ + 247, + 182, + 333, + 283 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should involve moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 7 cm, move right 1 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676925003528595, + -0.003573268186300993, + 0.09995672851800919, + -2.9699325561523438, + -0.3404240906238556, + -0.12361210584640503 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should involve moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 7 cm, move right 1 cm, move down 5 cm, keep gripper closed; then move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726792335510254, + -0.00433141877874732, + 0.09522492438554764, + -2.980886220932007, + -0.3434212803840637, + -0.11642780900001526 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach and grasp lever", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should involve moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move right 1 cm, move down 5 cm, keep gripper closed; then move forward 2 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37186965346336365, + -0.0007759467116557062, + 0.0936511904001236, + -2.9751789569854736, + -0.34382957220077515, + -0.10436848551034927 + ], + "gripper_value": 0.48704639077186584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever to vertical front", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should involve moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 5 cm, keep gripper closed; then move forward 3 cm, move left 1 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583914339542389, + 0.002370157977566123, + 0.08265676349401474, + -2.972134590148926, + -0.3041216731071472, + -0.08203108608722687 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever to vertical front", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should involve moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 4 cm, keep gripper closed; then move forward 4 cm, move left 2 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34093692898750305, + 0.003881222801283002, + 0.07805757969617844, + -2.9764180183410645, + -0.2926458418369293, + -0.049833111464977264 + ], + "gripper_value": 0.15975023806095123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever to vertical front", + "subtask_reasoning": "The robot is positioned above the drawer with the gripper open, approaching the lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action should involve moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32163771986961365, + 0.0025677960366010666, + 0.06495007127523422, + -3.000371217727661, + -0.30564719438552856, + -0.007813720963895321 + ], + "gripper_value": 0.1302075982093811 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever to vertical front", + "subtask_reasoning": "The robot has grasped the lever and is currently rotating it toward a vertical front-facing orientation. The gripper remains closed with active motion, indicating ongoing manipulation. The next action is to complete the rotation until the lever is fully vertical and facing forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000715970993042, + -0.008707037195563316, + 0.04274676367640495, + -3.0239150524139404, + -0.3069131076335907, + -0.002357524586841464 + ], + "gripper_value": 0.0600886270403862 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever to vertical front", + "subtask_reasoning": "The robot has grasped the lever and is currently rotating it toward a vertical front-facing orientation. The gripper remains closed with active motion, indicating ongoing manipulation. The next action is to complete the rotation until the lever is fully vertical and facing forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2938895523548126, + -0.010594041086733341, + 0.03204922750592232, + -3.0392894744873047, + -0.3394215404987335, + -0.007787343114614487 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever to vertical front", + "subtask_reasoning": "The robot has grasped the lever and is currently rotating it toward a vertical front-facing orientation. The gripper remains closed with active motion, indicating ongoing manipulation. The next action is to complete the rotation until the lever is fully vertical and facing forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2920880615711212, + -0.006217822432518005, + 0.03080458752810955, + -3.0310590267181396, + -0.33383801579475403, + -0.0005669593228958547 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 504, + 655, + 631, + 879 + ], + "white fork": [ + 488, + 619, + 690, + 715 + ], + "purple eggplant": [ + 374, + 545, + 461, + 713 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "rotate lever to vertical front", + "subtask_reasoning": "The robot has grasped the lever and is currently rotating it toward a vertical front-facing orientation. The gripper remains closed with active motion, indicating ongoing manipulation. The next action is to complete the rotation until the lever is fully vertical and facing forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 4 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29940375685691833, + -0.007932418957352638, + 0.04748262092471123, + -2.9960837364196777, + -0.2739628255367279, + -0.020783331245183945 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the lever and is currently rotating it toward a vertical front-facing orientation. The gripper remains closed with active motion, indicating ongoing manipulation. The next action is to complete the rotation until the lever is fully vertical and facing forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3122473657131195, + -0.0071105677634477615, + 0.07879897207021713, + -2.9830989837646484, + -0.21226045489311218, + -0.038027409464120865 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the lever and is currently rotating it toward a vertical front-facing orientation. The gripper remains closed with active motion, indicating ongoing manipulation. The next action is to complete the rotation until the lever is fully vertical and facing forward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3240891396999359, + -0.004312993958592415, + 0.10130293667316437, + -2.9739937782287598, + -0.19582171738147736, + -0.0640917718410492 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to a vertical front-facing position and is no longer being grasped, as indicated by the open gripper. The robot is now retreating from the lever, moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3303371071815491, + 0.0007484452216885984, + 0.10893451422452927, + -2.9560835361480713, + -0.19238793849945068, + -0.10647187381982803 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to a vertical front-facing position and is no longer being grasped, as indicated by the open gripper. The robot is now retreating from the lever, moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33913496136665344, + 0.010108564049005508, + 0.10512583702802658, + -2.9542396068573, + -0.22606419026851654, + -0.1391473114490509 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to a vertical front-facing position and is no longer being grasped, as indicated by the open gripper. The robot is now retreating from the lever, moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425731360912323, + 0.018550634384155273, + 0.0896589457988739, + -2.9734203815460205, + -0.2670370936393738, + -0.1535414159297943 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever and rotate it to a vertical orientation facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp lever" + }, + { + "id": 2, + "subtask": "rotate lever to vertical front" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The lever has been rotated to a vertical front-facing position and is no longer being grasped, as indicated by the open gripper. The robot is now retreating from the lever, moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000898_ecot.json b/cot/chunk-0000/episode_0000898_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2bc5313afc4417de242f08f0d1f422fd5400557c --- /dev/null +++ b/cot/chunk-0000/episode_0000898_ecot.json @@ -0,0 +1,1066 @@ +{ + "task_name": "episode_0000898", + "episode_json": "json/chunk-0000/episode_0000898.json", + "video_path": "videos/chunk-0000/image_0/episode_0000898.mp4", + "instruction": "Put sweet potato in pot which is in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 16, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000898.json" + }, + "fps": 5.0, + "T_eff": 16, + "gripper_behavior_summary": { + "available": true, + "range": 0.2159978747367859, + "std": 0.10272393375635147, + "delta_total": -0.21504062414169312, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.21600, std=0.10272, total_delta=-0.21504). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 15 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sweet potato\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector down toward the sweet potato on the counter while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp sweet potato\", \"start\": 4, \"end\": 9, \"planning\": \"Close gripper around sweet potato and secure hold as confirmed by gripper value drop and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport to sink\", \"start\": 10, \"end\": 12, \"planning\": \"Lift sweet potato and move it horizontally over the sink area while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release sweet potato in pot\", \"start\": 13, \"end\": 15, \"planning\": \"Position sweet potato above pot in sink and release grip to drop it inside without further manipulation.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, transport, and release sweet potato into pot located in sink.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.216) consistent with grasping; Segment 2 shows no further gripper change, indicating release or static hold during transport and drop. Frame coverage is complete and contiguous from 0 to 15.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sweet potato", + "start": 0, + "end": 3, + "planning": "Move end-effector down toward the sweet potato on the counter while keeping gripper open." + }, + { + "id": 2, + "name": "grasp sweet potato", + "start": 4, + "end": 9, + "planning": "Close gripper around sweet potato and secure hold as confirmed by gripper value drop and visual contact." + }, + { + "id": 3, + "name": "lift and transport to sink", + "start": 10, + "end": 12, + "planning": "Lift sweet potato and move it horizontally over the sink area while maintaining grip." + }, + { + "id": 4, + "name": "release sweet potato in pot", + "start": 13, + "end": 15, + "planning": "Position sweet potato above pot in sink and release grip to drop it inside without further manipulation." + } + ], + "global_plan": "Approach, grasp, lift, transport, and release sweet potato into pot located in sink.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.216) consistent with grasping; Segment 2 shows no further gripper change, indicating release or static hold during transport and drop. Frame coverage is complete and contiguous from 0 to 15." + } + }, + "episode_goal": "Place the sweet potato into the pot located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22385713458061218, + 0.028878459706902504, + 0.06580059230327606, + -3.0820298194885254, + -0.3628027141094208, + -0.10812452435493469 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the counter with the sweet potato visible nearby. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22111107409000397, + 0.02718651480972767, + 0.055323075503110886, + -3.0947110652923584, + -0.3569765090942383, + -0.11815952509641647 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the sweet potato visible on the counter to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22167962789535522, + 0.032856326550245285, + 0.04189459979534149, + -3.1061601638793945, + -0.3750111758708954, + -0.09921354055404663 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 350, + 76, + 521, + 249 + ], + "sink": [ + 366, + 322, + 918, + 895 + ], + "faucet": [ + 617, + 3, + 954, + 423 + ], + "red ball": [ + 328, + 585, + 434, + 734 + ] + } + } + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the sweet potato visible on the counter to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, close gripper; then move forward 5 cm, move right 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2222185730934143, + 0.03505789488554001, + 0.030914174392819405, + -3.1213479042053223, + -0.3865971267223358, + -0.0903286337852478 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "approach sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the sweet potato visible on the counter to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 2 cm, move up 4 cm, close gripper; then move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22357574105262756, + 0.0361148938536644, + 0.024066731333732605, + -3.130396842956543, + -0.4030664563179016, + -0.07688740640878677 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the sweet potato visible on the counter to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, close gripper; then move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2224232703447342, + 0.03652038425207138, + 0.015598014928400517, + -3.132469654083252, + -0.41534218192100525, + -0.051995109766721725 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot arm is positioned above the sink area, with the sweet potato visible on the counter to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the arm closer to the sweet potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22127856314182281, + 0.03509359061717987, + 0.00853434856981039, + -3.135100841522217, + -0.4251207113265991, + -0.02588118240237236 + ], + "gripper_value": 0.8381108045578003 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato on the counter and is currently in contact with it. The gripper is partially closed around the object, indicating the grasp is in progress but not yet fully secured. The next action is to complete the closure of the gripper to firmly hold the sweet potato for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22110366821289062, + 0.034922920167446136, + 0.007821551524102688, + -3.135997772216797, + -0.4248568117618561, + -0.022008521482348442 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato on the counter and is currently in contact with it. The gripper is partially closed around the object, indicating the grasp is in progress but not yet fully secured. The next action is to complete the closure of the gripper to firmly hold the sweet potato for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21848143637180328, + 0.02823663502931595, + 0.014833755791187286, + 3.1402342319488525, + -0.3751179575920105, + -0.03315192461013794 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato on the counter and is currently in contact with it. The gripper is partially closed around the object, indicating the grasp is in progress but not yet fully secured. The next action is to complete the closure of the gripper to firmly hold the sweet potato for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 5 cm, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2275596708059311, + 0.02380296215415001, + 0.04385111480951309, + -3.0926637649536133, + -0.3828234374523163, + -0.061178505420684814 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "grasp sweet potato", + "subtask_reasoning": "The robot has approached the sweet potato on the counter and is currently in contact with it. The gripper is partially closed around the object, indicating the grasp is in progress but not yet fully secured. The next action is to complete the closure of the gripper to firmly hold the sweet potato for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23837018013000488, + 0.012161371298134327, + 0.06260808557271957, + -3.0621225833892822, + -0.40296849608421326, + -0.08875399827957153 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "lift and transport to sink", + "subtask_reasoning": "The robot has approached the sweet potato on the counter and is currently in contact with it. The gripper is partially closed around the object, indicating the grasp is in progress but not yet fully secured. The next action is to complete the closure of the gripper to firmly hold the sweet potato for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move up 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2622425854206085, + -0.008446960709989071, + 0.07596953213214874, + -3.047398090362549, + -0.4565008282661438, + -0.11888884752988815 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "lift and transport to sink", + "subtask_reasoning": "The robot is currently holding the sweet potato above the sink, having completed the approach and grasp phases. The gripper remains closed with no significant change, indicating the object is secured. The next action is to lower the sweet potato into the pot located in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2860380709171295, + -0.030306097120046616, + 0.07890895009040833, + -3.0452303886413574, + -0.47302237153053284, + -0.14207112789154053 + ], + "gripper_value": 0.788411557674408 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 88, + 218, + 261, + 463 + ], + "faucet": [ + 645, + 5, + 951, + 384 + ], + "sink": [ + 312, + 349, + 918, + 896 + ] + } + } + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "lift and transport to sink", + "subtask_reasoning": "The robot is currently holding the sweet potato above the sink, having completed the approach and grasp phases. The gripper remains closed with no significant change, indicating the object is secured. The next action is to lower the sweet potato into the pot located in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30626094341278076, + -0.051223024725914, + 0.07505466043949127, + -3.0232040882110596, + -0.48333707451820374, + -0.14190977811813354 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "release sweet potato in pot", + "subtask_reasoning": "The robot is currently holding the sweet potato above the sink, having completed the approach and grasp phases. The gripper remains closed with no significant change, indicating the object is secured. The next action is to lower the sweet potato into the pot located in the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3250909447669983, + -0.0784977525472641, + 0.0640227198600769, + -3.0156991481781006, + -0.4694232940673828, + -0.15111757814884186 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "release sweet potato in pot", + "subtask_reasoning": "The robot arm is positioned directly above the pot in the sink, with the sweet potato held in the gripper. The gripper remains open, indicating the object has not yet been released. The next action is to lower the sweet potato into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33649760484695435, + -0.09329111129045486, + 0.05971704050898552, + -3.0283212661743164, + -0.4572158753871918, + -0.16699719429016113 + ], + "gripper_value": 0.788411557674408 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the sweet potato into the pot located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sweet potato" + }, + { + "id": 2, + "subtask": "grasp sweet potato" + }, + { + "id": 3, + "subtask": "lift and transport to sink" + }, + { + "id": 4, + "subtask": "release sweet potato in pot" + } + ], + "subtask_name": "release sweet potato in pot", + "subtask_reasoning": "The robot arm is positioned directly above the pot in the sink, with the sweet potato held in the gripper. The gripper remains open, indicating the object has not yet been released. The next action is to lower the sweet potato into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 15 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000899_ecot.json b/cot/chunk-0000/episode_0000899_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f6a88262a75a47f92e430ce52a02dadb28ab240b --- /dev/null +++ b/cot/chunk-0000/episode_0000899_ecot.json @@ -0,0 +1,2420 @@ +{ + "task_name": "episode_0000899", + "episode_json": "json/chunk-0000/episode_0000899.json", + "video_path": "videos/chunk-0000/image_0/episode_0000899.mp4", + "instruction": "Put the yellow knife in the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000899.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.597055196762085, + "std": 0.28091567754745483, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.59706, std=0.28092, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 17, + 17, + 17, + 417, + 417, + 417, + 417, + 517, + 517, + 517, + 517, + 517, + 517, + 517, + 131, + 131, + 131, + 131, + 131 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 9 + ], + [ + 3, + 10, + 16 + ], + [ + 4, + 17, + 19 + ], + [ + 5, + 20, + 23 + ], + [ + 6, + 24, + 30 + ], + [ + 7, + 31, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow knife\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector toward the yellow knife on the right burner without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp yellow knife\", \"start\": 10, \"end\": 16, \"planning\": \"Close the gripper around the yellow knife handle to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport knife\", \"start\": 17, \"end\": 23, \"planning\": \"Lift the grasped yellow knife and move it horizontally toward the left burner.\"},\n {\"id\": 4, \"name\": \"position over left burner\", \"start\": 24, \"end\": 30, \"planning\": \"Align the held yellow knife directly above the left burner in preparation for placement.\"},\n {\"id\": 5, \"name\": \"release knife on left burner\", \"start\": 31, \"end\": 35, \"planning\": \"Open the gripper to release the yellow knife onto the left burner and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach the yellow knife on the right burner, grasp it securely, lift and carry it to the left burner, then release it precisely on the target location.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 3 (frames 10-16) and 7 (frames 31-35), validating grasp and release actions. Segments 1, 5 show no gripper closure — described as approach/transport phases. Full frame coverage maintained with contiguous, non-overlapping subtasks.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow knife", + "start": 0, + "end": 9, + "planning": "Move the end-effector toward the yellow knife on the right burner without closing the gripper." + }, + { + "id": 2, + "name": "grasp yellow knife", + "start": 10, + "end": 16, + "planning": "Close the gripper around the yellow knife handle to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport knife", + "start": 17, + "end": 23, + "planning": "Lift the grasped yellow knife and move it horizontally toward the left burner." + }, + { + "id": 4, + "name": "position over left burner", + "start": 24, + "end": 30, + "planning": "Align the held yellow knife directly above the left burner in preparation for placement." + }, + { + "id": 5, + "name": "release knife on left burner", + "start": 31, + "end": 35, + "planning": "Open the gripper to release the yellow knife onto the left burner and retreat slightly." + } + ], + "global_plan": "Approach the yellow knife on the right burner, grasp it securely, lift and carry it to the left burner, then release it precisely on the target location.", + "notes": "Gripper evidence confirms meaningful closing only in segments 3 (frames 10-16) and 7 (frames 31-35), validating grasp and release actions. Segments 1, 5 show no gripper closure — described as approach/transport phases. Full frame coverage maintained with contiguous, non-overlapping subtasks." + } + }, + "episode_goal": "Place the yellow knife on the left burner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.41209423542022705, + 0.12466267496347427, + 0.04914184659719467, + 2.925983428955078, + -0.10528441518545151, + 1.974042534828186 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned near the stove with the yellow knife visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 19 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.40685051679611206, + 0.12180107831954956, + 0.030164280906319618, + 2.972839117050171, + -0.10696940124034882, + 1.9679268598556519 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned near the stove with the yellow knife visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 19 cm, move up 3 cm, rotate counterclockwise 80 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39650920033454895, + 0.11246416717767715, + 0.025179142132401466, + 2.9712564945220947, + -0.06292088329792023, + 1.9507478475570679 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned near the stove with the yellow knife visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 18 cm, move up 3 cm, rotate counterclockwise 80 degrees, keep gripper open; then move back 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39564263820648193, + 0.10436375439167023, + 0.04637674242258072, + 2.9102771282196045, + -0.016684357076883316, + 1.9018696546554565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned near the stove with the yellow knife visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 17 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 80 degrees, keep gripper open; then move back 1 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39674749970436096, + 0.08366324007511139, + 0.046667423099279404, + 2.9344112873077393, + -0.0013841906329616904, + 1.7454321384429932 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 15 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 70 degrees, keep gripper open; then move down 9 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3993755877017975, + 0.034736163914203644, + 0.05793659761548042, + 2.96891713142395, + -0.04559917375445366, + 1.4742194414138794 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 10 cm, tilt left 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move down 10 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3952255845069885, + -0.011354837566614151, + 0.07715558260679245, + 2.9512698650360107, + -0.08603686839342117, + 1.2290403842926025 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 638, + 306, + 801, + 573 + ], + "sponge": [ + 312, + 318, + 468, + 405 + ], + "sink": [ + 810, + 533, + 993, + 981 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move down 10 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3752478361129761, + -0.04083918407559395, + 0.08119209855794907, + 2.9771807193756104, + -0.12165684252977371, + 1.0189270973205566 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 3 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 10 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35451316833496094, + -0.060078222304582596, + 0.07548795640468597, + 3.0488221645355225, + -0.14264650642871857, + 0.8593460321426392 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 10 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.33511343598365784, + -0.06784875690937042, + 0.06372153013944626, + 3.1250431537628174, + -0.12555937469005585, + 0.7031235694885254 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "approach yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 10 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.32865169644355774, + -0.06808808445930481, + 0.05533592402935028, + -3.0984551906585693, + -0.12602311372756958, + 0.5866090059280396 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 10 cm, close gripper; then move left 2 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32565557956695557, + -0.06986016780138016, + 0.03961693122982979, + -3.091186761856079, + -0.11131329834461212, + 0.5065827965736389 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 8 cm, close gripper; then move back 1 cm, move left 6 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.32205986976623535, + -0.07038059085607529, + 0.009755216538906097, + -3.0824291706085205, + -0.09112835675477982, + 0.4553592801094055 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 809, + 534, + 993, + 978 + ], + "sponge": [ + 312, + 318, + 467, + 405 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot is positioned above the stove with the yellow knife visible on the right burner. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move left 10 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229643404483795, + -0.06929527968168259, + -0.018129536882042885, + -3.087059497833252, + -0.08513358235359192, + 0.44682592153549194 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot arm is positioned above the yellow knife on the right burner, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move left 15 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3251345753669739, + -0.06760081648826599, + -0.03488244116306305, + -3.094411849975586, + -0.08940284699201584, + 0.4708760678768158 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot arm is positioned above the yellow knife on the right burner, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 18 cm, move up 8 cm, rotate clockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32630613446235657, + -0.06783240288496017, + -0.0433991365134716, + -3.0942790508270264, + -0.08928092569112778, + 0.4820806086063385 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot arm is positioned above the yellow knife on the right burner, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move left 18 cm, move up 8 cm, rotate clockwise 50 degrees, keep gripper closed; then move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33384642004966736, + -0.07107096910476685, + -0.043488822877407074, + -3.080888509750366, + -0.13709233701229095, + 0.5124662518501282 + ], + "gripper_value": 0.6902000904083252 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "grasp yellow knife", + "subtask_reasoning": "The robot arm is positioned above the yellow knife on the right burner, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 18 cm, move up 8 cm, rotate clockwise 50 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.33618178963661194, + -0.06971918046474457, + -0.04442550614476204, + -3.1163461208343506, + -0.13922856748104095, + 0.5586259365081787 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot arm is positioned above the yellow knife on the right burner, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 18 cm, move up 8 cm, rotate clockwise 50 degrees, keep gripper closed; then move left 3 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33564457297325134, + -0.06931428611278534, + -0.04405970498919487, + -3.120898723602295, + -0.13308367133140564, + 0.5528647899627686 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot arm is positioned above the yellow knife on the right burner, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 18 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33311498165130615, + -0.0605497881770134, + -0.026207681745290756, + 3.138556480407715, + -0.15679091215133667, + 0.5747402310371399 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot arm is positioned above the yellow knife on the right burner, with the gripper open and ready. The approach phase is complete, and the current subtask requires closing the gripper to securely grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 17 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33337661623954773, + -0.052841030061244965, + 0.005533639807254076, + 3.0442235469818115, + -0.18364480137825012, + 0.6184336543083191 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife from the right burner and is currently lifting it. The gripper is closed, and the arm is in motion, transporting the knife towards the left burner. The next action is to continue moving the knife over the left burner and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 16 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32776543498039246, + -0.014455724507570267, + 0.04506021365523338, + 2.9495489597320557, + -0.1875283122062683, + 0.8175303936004639 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife from the right burner and is currently lifting it. The gripper is closed, and the arm is in motion, transporting the knife towards the left burner. The next action is to continue moving the knife over the left burner and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3320963978767395, + 0.029050905257463455, + 0.04935604706406593, + 2.9511585235595703, + -0.1523606777191162, + 1.0608776807785034 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife from the right burner and is currently lifting it. The gripper is closed, and the arm is in motion, transporting the knife towards the left burner. The next action is to continue moving the knife over the left burner and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.33590883016586304, + 0.07840275764465332, + 0.044022902846336365, + 2.9720914363861084, + -0.17327402532100677, + 1.308264136314392 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 637, + 305, + 801, + 574 + ], + "sink": [ + 809, + 533, + 993, + 978 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife from the right burner and is currently lifting it. The gripper is closed, and the arm is in motion, transporting the knife towards the left burner. The next action is to continue moving the knife over the left burner and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3317658007144928, + 0.10612911731004715, + 0.031125079840421677, + 3.0338521003723145, + -0.19134621322155, + 1.4300686120986938 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot has successfully grasped the yellow knife from the right burner and is currently lifting it. The gripper is closed, and the arm is in motion, transporting the knife towards the left burner. The next action is to continue moving the knife over the left burner and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309868574142456, + 0.12469182163476944, + 0.013263038359582424, + 3.0815789699554443, + -0.189259335398674, + 1.4922622442245483 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot has successfully grasped the yellow knife from the right burner and is currently lifting it. The gripper is closed, and the arm is in motion, transporting the knife towards the left burner. The next action is to continue moving the knife over the left burner and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3337269425392151, + 0.1275586187839508, + -0.010626837611198425, + 3.1002719402313232, + -0.13511647284030914, + 1.4797892570495605 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot has successfully grasped the yellow knife from the right burner and is currently lifting it. The gripper is closed, and the arm is in motion, transporting the knife towards the left burner. The next action is to continue moving the knife over the left burner and prepare to release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3338509798049927, + 0.1314314305782318, + -0.027634156867861748, + 3.097691774368286, + -0.1094207838177681, + 1.4874871969223022 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot is holding the yellow knife and has moved it over the left burner of the stove. The positioning appears aligned with the target location, and the gripper remains closed, indicating the knife is still secured. The next likely action is to release the knife onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.33915045857429504, + 0.13638319075107574, + -0.0359574519097805, + 3.0996603965759277, + -0.12894831597805023, + 1.5239877700805664 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot is holding the yellow knife and has moved it over the left burner of the stove. The positioning appears aligned with the target location, and the gripper remains closed, indicating the knife is still secured. The next likely action is to release the knife onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34143099188804626, + 0.1395224779844284, + -0.0345713309943676, + 3.106173276901245, + -0.14272695779800415, + 1.5504435300827026 + ], + "gripper_value": 0.4077054560184479 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot is holding the yellow knife and has moved it over the left burner of the stove. The positioning appears aligned with the target location, and the gripper remains closed, indicating the knife is still secured. The next likely action is to release the knife onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34194663166999817, + 0.13967183232307434, + -0.0337662547826767, + 3.1036999225616455, + -0.14097090065479279, + 1.5784541368484497 + ], + "gripper_value": 0.44944798946380615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot is holding the yellow knife and has moved it over the left burner of the stove. The positioning appears aligned with the target location, and the gripper remains closed, indicating the knife is still secured. The next likely action is to release the knife onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33992230892181396, + 0.14195667207241058, + -0.03486119210720062, + -3.1295974254608154, + -0.14148861169815063, + 1.615140676498413 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "release knife on left burner", + "subtask_reasoning": "The robot is holding the yellow knife and has moved it over the left burner of the stove. The positioning appears aligned with the target location, and the gripper remains closed, indicating the knife is still secured. The next likely action is to release the knife onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34055399894714355, + 0.14264601469039917, + -0.03395020216703415, + -3.129739999771118, + -0.14432945847511292, + 1.6198139190673828 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "release knife on left burner", + "subtask_reasoning": "The robot is holding the yellow knife and has moved it over the left burner of the stove. The positioning appears aligned with the target location, and the gripper remains closed, indicating the knife is still secured. The next likely action is to release the knife onto the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33892911672592163, + 0.1425684094429016, + -0.0330023393034935, + -3.1162500381469727, + -0.14722909033298492, + 1.6144311428070068 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "release knife on left burner", + "subtask_reasoning": "The yellow knife is currently held above the left burner, aligned with the target location. The gripper is open, indicating the release action is in progress or just completed. The next step is to confirm the knife has been placed and move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457053005695343, + 0.13992519676685333, + -0.022871319204568863, + -3.072791576385498, + -0.18681037425994873, + 1.5837892293930054 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "release knife on left burner", + "subtask_reasoning": "The yellow knife is currently held above the left burner, aligned with the target location. The gripper is open, indicating the release action is in progress or just completed. The next step is to confirm the knife has been placed and move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35410866141319275, + 0.13299167156219482, + -0.0075726197101175785, + -3.0249927043914795, + -0.24945493042469025, + 1.5486191511154175 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "can": [ + 638, + 305, + 801, + 574 + ], + "sink": [ + 811, + 534, + 993, + 979 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife on the left burner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow knife" + }, + { + "id": 2, + "subtask": "grasp yellow knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "position over left burner" + }, + { + "id": 5, + "subtask": "release knife on left burner" + } + ], + "subtask_name": "release knife on left burner", + "subtask_reasoning": "The yellow knife is currently held above the left burner, aligned with the target location. The gripper is open, indicating the release action is in progress or just completed. The next step is to confirm the knife has been placed and move the arm away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000900_ecot.json b/cot/chunk-0000/episode_0000900_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..be91fca3e86dd6d2c795cfd80c005a161fe2a495 --- /dev/null +++ b/cot/chunk-0000/episode_0000900_ecot.json @@ -0,0 +1,1221 @@ +{ + "task_name": "episode_0000900", + "episode_json": "json/chunk-0000/episode_0000900.json", + "video_path": "videos/chunk-0000/image_0/episode_0000900.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000900.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.5891144871711731, + "std": 0.2619118094444275, + "delta_total": -0.46896111965179443, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58911, std=0.26191, total_delta=-0.46896). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 116 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 15 + ], + [ + 4, + 16, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper down toward the carrot while keeping it open.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 6, \"end\": 6, \"planning\": \"Close the gripper around the carrot to secure it.\"},\n {\"id\": 3, \"name\": \"lift carrot\", \"start\": 7, \"end\": 9, \"planning\": \"Lift the grasped carrot upward from the sink surface.\"},\n {\"id\": 4, \"name\": \"transport to plate\", \"start\": 10, \"end\": 15, \"planning\": \"Move the held carrot horizontally and vertically toward the green plate in the basket.\"},\n {\"id\": 5, \"name\": \"release contact\", \"start\": 16, \"end\": 16, \"planning\": \"Begin opening the gripper to release the carrot onto the plate.\"}\n ],\n \"global_plan\": \"Approach the carrot, grasp it firmly, lift it clear of the sink, transport it over the green plate in the basket, and begin releasing it onto the plate.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.43448) with image confirmation at frame 6 — grasp is justified. Segments 2–4 show no further closing; gripper remains closed during transport and begins opening only at frame 16. All subtasks are contiguous and cover frames 0–16.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 5, + "planning": "Move the gripper down toward the carrot while keeping it open." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 6, + "end": 6, + "planning": "Close the gripper around the carrot to secure it." + }, + { + "id": 3, + "name": "lift carrot", + "start": 7, + "end": 9, + "planning": "Lift the grasped carrot upward from the sink surface." + }, + { + "id": 4, + "name": "transport to plate", + "start": 10, + "end": 15, + "planning": "Move the held carrot horizontally and vertically toward the green plate in the basket." + }, + { + "id": 5, + "name": "release contact", + "start": 16, + "end": 16, + "planning": "Begin opening the gripper to release the carrot onto the plate." + } + ], + "global_plan": "Approach the carrot, grasp it firmly, lift it clear of the sink, transport it over the green plate in the basket, and begin releasing it onto the plate.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.43448) with image confirmation at frame 6 — grasp is justified. Segments 2–4 show no further closing; gripper remains closed during transport and begins opening only at frame 16. All subtasks are contiguous and cover frames 0–16." + } + }, + "episode_goal": "Place the carrot into the yellow basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24124450981616974, + -0.0748073160648346, + 0.15065090358257294, + 3.015035629272461, + -0.1944507658481598, + 0.06942573934793472 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the carrot visible below and slightly to the right. No actions have been completed yet as the subtask is just starting. The next likely action is to move the arm closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 6 cm, close gripper; then keep gripper closed; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2398269921541214, + -0.07519476115703583, + 0.1397157609462738, + 3.013800859451294, + -0.17182332277297974, + 0.08776222169399261 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the sink, with the carrot visible below and slightly to the right. No actions have been completed yet as the subtask is just starting. The next likely action is to move the arm closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then keep gripper closed; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24030284583568573, + -0.07662859559059143, + 0.127546027302742, + 3.0030832290649414, + -0.17622634768486023, + 0.11070708930492401 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange carrot and the yellow basket. No objects have been grasped yet, as the gripper remains fully open. The robot needs to continue moving its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.240133598446846, + -0.08174583315849304, + 0.11931467801332474, + 2.987489938735962, + -0.184179425239563, + 0.09764282405376434 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange carrot and the yellow basket. No objects have been grasped yet, as the gripper remains fully open. The robot needs to continue moving its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then keep gripper closed; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 8 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24164830148220062, + -0.0841822698712349, + 0.10899253189563751, + 2.9862406253814697, + -0.16716283559799194, + 0.08479167520999908 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange carrot and the yellow basket. No objects have been grasped yet, as the gripper remains fully open. The robot needs to continue moving its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then keep gripper closed; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24324259161949158, + -0.08504649251699448, + 0.09705162048339844, + 2.992601156234741, + -0.13717538118362427, + 0.08448551595211029 + ], + "gripper_value": 0.8196109533309937 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plate": [ + 303, + 328, + 533, + 512 + ], + "dish rack": [ + 192, + 97, + 617, + 548 + ], + "carrot": [ + 602, + 486, + 699, + 692 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the sink, hovering near the orange carrot and the yellow basket. No objects have been grasped yet, as the gripper remains fully open. The robot needs to continue moving its end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.24498441815376282, + -0.08514972776174545, + 0.09552916139364243, + 3.0050816535949707, + -0.11845489591360092, + 0.08210927248001099 + ], + "gripper_value": 0.5650128126144409 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the orange carrot in the sink, having completed the approach phase. Since the segment-level gripper evidence shows no meaningful closing signal, the gripper remains open and has not yet made contact. The next action is to lower the arm slightly to establish contact with the carrot before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 5 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.24401752650737762, + -0.08286148309707642, + 0.1001744493842125, + 3.0261354446411133, + -0.09335760772228241, + 0.09279782325029373 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "lift carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the orange carrot in the sink, having completed the approach phase. Since the segment-level gripper evidence shows no meaningful closing signal, the gripper remains open and has not yet made contact. The next action is to lower the arm slightly to establish contact with the carrot before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2414102852344513, + -0.08538126945495605, + 0.12280404567718506, + 3.0602495670318604, + -0.11072300374507904, + 0.08477741479873657 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "lift carrot", + "subtask_reasoning": "The robot has approached and grasped the carrot in the sink. The current subtask is to lift the carrot clear of the sink surface. The gripper is closed around the carrot, and the next action is to move upward to complete the lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2412865310907364, + -0.08233856409788132, + 0.16075438261032104, + 3.0940704345703125, + -0.16777123510837555, + 0.09675295650959015 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "lift carrot", + "subtask_reasoning": "The robot has approached and grasped the carrot in the sink. The current subtask is to lift the carrot clear of the sink surface. The gripper is closed around the carrot, and the next action is to move upward to complete the lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move forward 3 cm, move left 10 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24064023792743683, + -0.06899139285087585, + 0.18076233565807343, + 3.123002767562866, + -0.20539617538452148, + 0.11697635054588318 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The robot has approached and grasped the carrot in the sink. The current subtask is to lift the carrot clear of the sink surface. The gripper is closed around the carrot, and the next action is to move upward to complete the lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 10 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24715322256088257, + -0.040916748344898224, + 0.18687617778778076, + 3.1235435009002686, + -0.2376338243484497, + 0.1522599309682846 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The robot has approached and grasped the carrot in the sink. The current subtask is to lift the carrot clear of the sink surface. The gripper is closed around the carrot, and the next action is to move upward to complete the lift." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 6 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25771385431289673, + -0.012002510018646717, + 0.1795753687620163, + 3.1113901138305664, + -0.22769014537334442, + 0.16832193732261658 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "dish rack": [ + 191, + 105, + 687, + 547 + ], + "green plate": [ + 304, + 328, + 535, + 507 + ], + "eggplant": [ + 801, + 163, + 933, + 332 + ], + "knife": [ + 789, + 470, + 992, + 581 + ], + "faucet": [ + 363, + 4, + 709, + 251 + ], + "lemon": [ + 792, + 715, + 909, + 854 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The robot is currently holding the carrot above the yellow basket, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the carrot is being transported rather than picked up or placed. The next action is to lower the carrot towards the green plate inside the basket to initiate the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26733559370040894, + 0.012455496937036514, + 0.17111419141292572, + 3.0979790687561035, + -0.2017204314470291, + 0.18710027635097504 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The robot is currently holding the carrot above the yellow basket, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the carrot is being transported rather than picked up or placed. The next action is to lower the carrot towards the green plate inside the basket to initiate the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2711069881916046, + 0.02757982537150383, + 0.15593066811561584, + 3.075012683868408, + -0.16905972361564636, + 0.21439248323440552 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The robot is currently holding the carrot above the yellow basket, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the carrot is being transported rather than picked up or placed. The next action is to lower the carrot towards the green plate inside the basket to initiate the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716091275215149, + 0.031528424471616745, + 0.14095954596996307, + 3.058396816253662, + -0.13509182631969452, + 0.21309414505958557 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The robot is currently holding the carrot above the yellow basket, having completed the approach and grasp phases. The gripper state is stable with no closing motion, indicating the carrot is being transported rather than picked up or placed. The next action is to lower the carrot towards the green plate inside the basket to initiate the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27207985520362854, + 0.03500329703092575, + 0.12791858613491058, + 3.063263177871704, + -0.08814772218465805, + 0.19886374473571777 + ], + "gripper_value": 0.5305274724960327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot into the yellow basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift carrot" + }, + { + "id": 4, + "subtask": "transport to plate" + }, + { + "id": 5, + "subtask": "release contact" + } + ], + "subtask_name": "release contact", + "subtask_reasoning": "The carrot is currently held above the green plate inside the yellow basket. The gripper signal shows no closing trend in this segment, indicating the robot is maintaining its hold rather than releasing. The next action is to open the gripper to drop the carrot onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 16, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000901_ecot.json b/cot/chunk-0000/episode_0000901_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa52179256c5b87c9e72e60f7947b4f7332338e --- /dev/null +++ b/cot/chunk-0000/episode_0000901_ecot.json @@ -0,0 +1,1639 @@ +{ + "task_name": "episode_0000901", + "episode_json": "json/chunk-0000/episode_0000901.json", + "video_path": "videos/chunk-0000/image_0/episode_0000901.mp4", + "instruction": "Move the orange object to the bottom side on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000901.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.6957377195358276, + "std": 0.32091060280799866, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.69574, std=0.32091, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 120, + 120, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 16 + ], + [ + 3, + 17, + 19 + ], + [ + 4, + 20, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on orange object\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the orange object while closing the gripper to establish contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift orange object\", \"start\": 9, \"end\": 16, \"planning\": \"Secure grasp on the orange object and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"transport orange object to target zone\", \"start\": 17, \"end\": 19, \"planning\": \"Carry the grasped orange object toward the bottom side of the table.\"},\n {\"id\": 4, \"name\": \"release and retreat from orange object\", \"start\": 20, \"end\": 23, \"planning\": \"Open gripper to place the orange object at the target location and withdraw end-effector.\"}\n ],\n \"global_plan\": \"Approach the orange object, grasp and lift it, transport it to the bottom side of the table, then release and retreat.\",\n \"notes\": \"Gripper closure begins in segment 1 (frames 0-8), confirmed by delta=-0.34605 and image evidence at frame 8 showing contact. Grasp is maintained through segment 2 (frames 9-16) with stable low gripper value (~0.31). Segment 3 (17-19) shows slight opening but still holding; segment 4 (20-23) shows full release (gripper opens to ~1.0) consistent with placement. All subtasks are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on orange object", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the orange object while closing the gripper to establish contact." + }, + { + "id": 2, + "name": "grasp and lift orange object", + "start": 9, + "end": 16, + "planning": "Secure grasp on the orange object and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "transport orange object to target zone", + "start": 17, + "end": 19, + "planning": "Carry the grasped orange object toward the bottom side of the table." + }, + { + "id": 4, + "name": "release and retreat from orange object", + "start": 20, + "end": 23, + "planning": "Open gripper to place the orange object at the target location and withdraw end-effector." + } + ], + "global_plan": "Approach the orange object, grasp and lift it, transport it to the bottom side of the table, then release and retreat.", + "notes": "Gripper closure begins in segment 1 (frames 0-8), confirmed by delta=-0.34605 and image evidence at frame 8 showing contact. Grasp is maintained through segment 2 (frames 9-16) with stable low gripper value (~0.31). Segment 3 (17-19) shows slight opening but still holding; segment 4 (20-23) shows full release (gripper opens to ~1.0) consistent with placement. All subtasks are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the orange object to the bottom side on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27848848700523376, + 0.153483048081398, + 0.09582746773958206, + 3.006014347076416, + -0.16502438485622406, + 1.960030198097229 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper around the orange object to initiate grasping, as segment-level evidence supports grasp feasibility and the image shows proximity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2776010036468506, + 0.15383478999137878, + 0.08565975725650787, + 3.037686586380005, + -0.16452383995056152, + 1.9617091417312622 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper around the orange object to initiate grasping, as segment-level evidence supports grasp feasibility and the image shows proximity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29081758856773376, + 0.16504761576652527, + 0.07458537817001343, + 3.0447826385498047, + -0.1905011385679245, + 1.9718332290649414 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 543, + 263, + 765, + 510 + ], + "toy microwave": [ + 277, + 2, + 685, + 254 + ], + "orange toy food": [ + 193, + 252, + 257, + 340 + ], + "red - handled fork": [ + 259, + 199, + 427, + 381 + ], + "blender": [ + 92, + 4, + 272, + 333 + ], + "toy stove": [ + 607, + 235, + 996, + 994 + ], + "open can": [ + 736, + 181, + 890, + 390 + ], + "tomato sauce": [ + 618, + 63, + 768, + 312 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper around the orange object to initiate grasping, as segment-level evidence supports grasp feasibility and the image shows proximity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 6 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3006874918937683, + 0.18370820581912994, + 0.06391125917434692, + 3.0603041648864746, + -0.18690310418605804, + 2.041078805923462 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next action should be to close the gripper around the orange object to initiate grasping, as segment-level evidence supports grasp feasibility and the image shows proximity." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30952638387680054, + 0.19593892991542816, + 0.05360687896609306, + 3.088320732116699, + -0.17641165852546692, + 2.0863535404205322 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31273341178894043, + 0.2068459540605545, + 0.042321667075157166, + 3.1142706871032715, + -0.17746365070343018, + 2.1166162490844727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 7 cm, move right 10 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31529292464256287, + 0.21133537590503693, + 0.02965855970978737, + 3.1362271308898926, + -0.173013374209404, + 2.1252152919769287 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 8 cm, move right 12 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3202013671398163, + 0.2092374712228775, + 0.027117060497403145, + 3.108367919921875, + -0.1483585089445114, + 2.1333327293395996 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 9 cm, move right 13 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31913599371910095, + 0.20745950937271118, + 0.019178315997123718, + 3.08634614944458, + -0.139667809009552, + 2.1609272956848145 + ], + "gripper_value": 0.6541022062301636 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "approach and close gripper on orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 9 cm, move right 13 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181675672531128, + 0.20836979150772095, + 0.018386315554380417, + 3.0845744609832764, + -0.13231907784938812, + 2.176788806915283 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 13 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31565454602241516, + 0.20823438465595245, + 0.017393041402101517, + 3.0877816677093506, + -0.1398324966430664, + 2.1770546436309814 + ], + "gripper_value": 0.31187212467193604 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 13 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31046679615974426, + 0.20308493077754974, + 0.024618420749902725, + 3.0775210857391357, + -0.1342260241508484, + 2.1765332221984863 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot arm is positioned near the orange object on the table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper around the orange object to prepare for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 12 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067582845687866, + 0.19762732088565826, + 0.04595811665058136, + 3.038820743560791, + -0.11610288918018341, + 2.1774675846099854 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot has approached the orange object and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The next step is to lift the orange object off the table to begin transporting it to the bottom side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 12 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29517489671707153, + 0.18085013329982758, + 0.07129146158695221, + 2.9970510005950928, + -0.08252623677253723, + 2.1722025871276855 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot has approached the orange object and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The next step is to lift the orange object off the table to begin transporting it to the bottom side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 10 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27171310782432556, + 0.14614203572273254, + 0.09101729840040207, + 2.969797372817993, + -0.05493288114666939, + 2.126718521118164 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot has approached the orange object and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The next step is to lift the orange object off the table to begin transporting it to the bottom side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.250399112701416, + 0.10892395675182343, + 0.08599087595939636, + 2.958225727081299, + -0.06612749397754669, + 2.0208821296691895 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red - handled fork": [ + 260, + 201, + 426, + 381 + ], + "metal pot": [ + 544, + 263, + 766, + 511 + ], + "toy microwave": [ + 277, + 2, + 684, + 254 + ], + "blender": [ + 68, + 5, + 275, + 356 + ], + "toy stove": [ + 611, + 235, + 996, + 994 + ], + "open can": [ + 736, + 180, + 890, + 390 + ], + "tomato sauce": [ + 618, + 63, + 768, + 312 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot has approached the orange object and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The next step is to lift the orange object off the table to begin transporting it to the bottom side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2345447540283203, + 0.08358291536569595, + 0.06539131700992584, + 2.994539260864258, + -0.08664782345294952, + 1.91334068775177 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 543, + 262, + 766, + 511 + ], + "toy microwave": [ + 289, + 2, + 684, + 254 + ], + "blender": [ + 93, + 9, + 321, + 472 + ], + "red - handled fork": [ + 275, + 195, + 425, + 380 + ], + "toy stove": [ + 606, + 236, + 996, + 993 + ], + "open can": [ + 736, + 179, + 890, + 390 + ], + "orange toy food": [ + 254, + 367, + 357, + 469 + ], + "tomato sauce": [ + 618, + 63, + 768, + 311 + ] + } + } + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "grasp and lift orange object", + "subtask_reasoning": "The robot has approached the orange object and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The next step is to lift the orange object off the table to begin transporting it to the bottom side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2285802662372589, + 0.08197122812271118, + 0.049865443259477615, + 3.019094944000244, + -0.12044382095336914, + 1.8851850032806396 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "transport orange object to target zone", + "subtask_reasoning": "The robot has approached the orange object and closed its gripper around it, as indicated by the gripper value and segment-level evidence. The next step is to lift the orange object off the table to begin transporting it to the bottom side." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, open gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2259139120578766, + 0.08170337229967117, + 0.0285443477332592, + 3.0397439002990723, + -0.1555444896221161, + 1.8552387952804565 + ], + "gripper_value": 0.3103247880935669 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "transport orange object to target zone", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having successfully lifted it from its initial position. The arm is positioned to move the object toward the bottom side of the table. The next action is to translate the end-effector downward and forward to place the object in the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22116287052631378, + 0.07983884960412979, + 0.01690768450498581, + 3.0605926513671875, + -0.17075835168361664, + 1.8361269235610962 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "transport orange object to target zone", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having successfully lifted it from its initial position. The arm is positioned to move the object toward the bottom side of the table. The next action is to translate the end-effector downward and forward to place the object in the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2117253988981247, + 0.07648360729217529, + 0.014681429602205753, + 3.09480881690979, + -0.16333648562431335, + 1.8648499250411987 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "release and retreat from orange object", + "subtask_reasoning": "The robot is currently holding the orange object above the table, having successfully lifted it from its initial position. The arm is positioned to move the object toward the bottom side of the table. The next action is to translate the end-effector downward and forward to place the object in the target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21424727141857147, + 0.07295700907707214, + 0.023752162232995033, + 3.0627448558807373, + -0.17267459630966187, + 1.8512567281723022 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "release and retreat from orange object", + "subtask_reasoning": "The orange object is resting on the table near the bottom edge, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the object to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21266555786132812, + 0.0708979070186615, + 0.031726181507110596, + 3.061394214630127, + -0.17889469861984253, + 1.8442884683609009 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "release and retreat from orange object", + "subtask_reasoning": "The orange object is resting on the table near the bottom edge, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the object to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22074048221111298, + 0.06906334310770035, + 0.0544973649084568, + 3.008571147918701, + -0.15435223281383514, + 1.8405827283859253 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the orange object to the bottom side on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on orange object" + }, + { + "id": 2, + "subtask": "grasp and lift orange object" + }, + { + "id": 3, + "subtask": "transport orange object to target zone" + }, + { + "id": 4, + "subtask": "release and retreat from orange object" + } + ], + "subtask_name": "release and retreat from orange object", + "subtask_reasoning": "The orange object is resting on the table near the bottom edge, and the gripper is open and positioned above it, indicating the release has been completed. The robot is now in the retreat phase, moving away from the object to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000902_ecot.json b/cot/chunk-0000/episode_0000902_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ee14c40c660a9fac0aee5a18c382b8ffbe84059a --- /dev/null +++ b/cot/chunk-0000/episode_0000902_ecot.json @@ -0,0 +1,1169 @@ +{ + "task_name": "episode_0000902", + "episode_json": "json/chunk-0000/episode_0000902.json", + "video_path": "videos/chunk-0000/image_0/episode_0000902.mp4", + "instruction": "Move the yellow napkin to the bottom of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000902.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 1.1920928955078125e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 14 + ], + [ + 2, + 15, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach napkin\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector from the initial position toward the yellow napkin on the table.\"},\n {\"id\": 2, \"name\": \"make contact with napkin\", \"start\": 7, \"end\": 14, \"planning\": \"Lower the gripper to make contact with the napkin surface without closing the fingers.\"},\n {\"id\": 3, \"name\": \"reposition gripper above napkin\", \"start\": 15, \"end\": 18, \"planning\": \"Adjust the gripper pose slightly while maintaining contact or proximity to the napkin for potential future manipulation.\"}\n ],\n \"global_plan\": \"The robot approaches the yellow napkin, makes contact with it using an open gripper, and then repositions slightly above it — no grasping or lifting occurs as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~1.0 (fully open) across all frames; no grasp, lift, or place actions are supported by evidence. Motion is limited to approach, contact, and minor repositioning.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach napkin", + "start": 0, + "end": 6, + "planning": "Move the end-effector from the initial position toward the yellow napkin on the table." + }, + { + "id": 2, + "name": "make contact with napkin", + "start": 7, + "end": 14, + "planning": "Lower the gripper to make contact with the napkin surface without closing the fingers." + }, + { + "id": 3, + "name": "reposition gripper above napkin", + "start": 15, + "end": 18, + "planning": "Adjust the gripper pose slightly while maintaining contact or proximity to the napkin for potential future manipulation." + } + ], + "global_plan": "The robot approaches the yellow napkin, makes contact with it using an open gripper, and then repositions slightly above it — no grasping or lifting occurs as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~1.0 (fully open) across all frames; no grasp, lift, or place actions are supported by evidence. Motion is limited to approach, contact, and minor repositioning." + } + }, + "episode_goal": "Move the yellow napkin to the bottom of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2652568221092224, + 0.15802398324012756, + 0.09360771626234055, + -3.0911364555358887, + -0.10357845574617386, + 0.04019388556480408 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible in front. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 13 cm, move down 9 cm, keep gripper open; then move back 9 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.26361969113349915, + 0.15594717860221863, + 0.08562743663787842, + -3.1047749519348145, + -0.07950573414564133, + 0.04295151308178902 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible in front. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 13 cm, move down 8 cm, keep gripper open; then move back 11 cm, move right 3 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2765844464302063, + 0.12019957602024078, + 0.07848019152879715, + -3.123706817626953, + -0.07499757409095764, + -0.0349888913333416 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible in front. No contact has been made yet, and the gripper remains fully open. The next action is to move the end effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 9 cm, move down 7 cm, keep gripper open; then move back 11 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29183682799339294, + 0.083315409719944, + 0.07820408046245575, + -3.1368751525878906, + -0.08970728516578674, + -0.0503445565700531 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible to the right. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 6 cm, move down 7 cm, keep gripper open; then move back 11 cm, move right 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3169685900211334, + 0.04303853586316109, + 0.0617559589445591, + -3.13230037689209, + -0.07794531434774399, + -0.06059878692030907 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible to the right. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, keep gripper open; then move back 9 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3443090617656708, + 0.03172563761472702, + 0.040178850293159485, + -3.1376028060913086, + -0.07208585739135742, + -0.012858168222010136 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 91, + 333, + 311, + 608 + ], + "yellow sponge": [ + 366, + 336, + 625, + 591 + ], + "wooden table": [ + 5, + 188, + 843, + 988 + ], + "metal": [ + 250, + 210, + 394, + 422 + ], + "white bin": [ + 802, + 381, + 995, + 840 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible to the right. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, keep gripper open; then move back 10 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3635796010494232, + 0.02965483069419861, + 0.019338324666023254, + -3.1306393146514893, + -0.06546928733587265, + 0.021818406879901886 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible to the right. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 10 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692939281463623, + 0.02802835777401924, + 0.00774992723017931, + -3.1231231689453125, + -0.04821357503533363, + 0.012190675362944603 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible to the right. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 3 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3593442142009735, + 0.02235371433198452, + -0.00045972494990564883, + -3.1177289485931396, + -0.023575490340590477, + 0.0015863155713304877 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible to the right. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 3 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.324138879776001, + 0.013181708753108978, + -0.0013190330937504768, + -3.1029741764068604, + 0.012177850119769573, + -0.03281421586871147 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot is positioned above the table with the yellow napkin visible to the right. No contact has been made yet, and the gripper remains fully open. The next action is to move the end-effector closer to the napkin to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28389471769332886, + 0.008781778626143932, + -0.0011399873765185475, + -3.0857315063476562, + 0.03594588115811348, + -0.06904390454292297 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the yellow napkin and is now making contact with it using an open gripper. No grasping has occurred as the gripper remains fully open. The next action is to reposition slightly above the napkin to prepare for sliding it toward the bottom of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2633126378059387, + 0.0028035338036715984, + 0.0005407818825915456, + -3.0817604064941406, + 0.04754827171564102, + -0.11042045801877975 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the yellow napkin and is now making contact with it using an open gripper. No grasping has occurred as the gripper remains fully open. The next action is to reposition slightly above the napkin to prepare for sliding it toward the bottom of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25474318861961365, + 0.00019296520622447133, + 0.003091144608333707, + -3.0792174339294434, + 0.03440284729003906, + -0.13346245884895325 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the yellow napkin and is now making contact with it using an open gripper. No grasping has occurred as the gripper remains fully open. The next action is to reposition slightly above the napkin to prepare for sliding it toward the bottom of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26392343640327454, + -0.003994108643382788, + 0.02453312650322914, + -3.0976181030273438, + -0.02928031049668789, + -0.12864097952842712 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the yellow napkin and is now making contact with it using an open gripper. No grasping has occurred as the gripper remains fully open. The next action is to reposition slightly above the napkin to prepare for sliding it toward the bottom of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756987512111664, + -0.012919093482196331, + 0.07027091830968857, + 3.13927960395813, + -0.14382439851760864, + -0.14251461625099182 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 92, + 333, + 311, + 607 + ], + "metal": [ + 251, + 209, + 387, + 422 + ], + "wooden table": [ + 5, + 190, + 844, + 989 + ], + "yellow sponge": [ + 285, + 502, + 598, + 836 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "make contact with napkin", + "subtask_reasoning": "The robot has approached the yellow napkin and is now making contact with it using an open gripper. No grasping has occurred as the gripper remains fully open. The next action is to reposition slightly above the napkin to prepare for sliding it toward the bottom of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27176204323768616, + -0.005129185505211353, + 0.0801309272646904, + -3.131385087966919, + -0.13321879506111145, + -0.13750222325325012 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "reposition gripper above napkin", + "subtask_reasoning": "The robot has approached the yellow napkin and is now making contact with it using an open gripper. No grasping has occurred as the gripper remains fully open. The next action is to reposition slightly above the napkin to prepare for sliding it toward the bottom of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27176204323768616, + -0.005129185505211353, + 0.0801309272646904, + -3.131385087966919, + -0.13321879506111145, + -0.13750222325325012 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "reposition gripper above napkin", + "subtask_reasoning": "The robot has approached and made contact with the yellow napkin using an open gripper. The gripper remains fully open (value=1.00148) with no closing motion detected in this segment. The next action is to reposition the gripper slightly above the napkin while maintaining an open state, preparing for potential sliding or pushing without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27176204323768616, + -0.005129185505211353, + 0.0801309272646904, + -3.131385087966919, + -0.13321879506111145, + -0.13750222325325012 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "reposition gripper above napkin", + "subtask_reasoning": "The robot has approached and made contact with the yellow napkin using an open gripper. The gripper remains fully open (value=1.00148) with no closing motion detected in this segment. The next action is to reposition the gripper slightly above the napkin while maintaining an open state, preparing for potential sliding or pushing without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27200308442115784, + -0.005131736397743225, + 0.08016347885131836, + -3.131190538406372, + -0.13474057614803314, + -0.137518048286438 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow napkin to the bottom of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "make contact with napkin" + }, + { + "id": 3, + "subtask": "reposition gripper above napkin" + } + ], + "subtask_name": "reposition gripper above napkin", + "subtask_reasoning": "The robot has approached and made contact with the yellow napkin using an open gripper. The gripper remains fully open (value=1.00148) with no closing motion detected in this segment. The next action is to reposition the gripper slightly above the napkin while maintaining an open state, preparing for potential sliding or pushing without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000903_ecot.json b/cot/chunk-0000/episode_0000903_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..14a2897875f6c4a7ef19d62f3a9004216501930a --- /dev/null +++ b/cot/chunk-0000/episode_0000903_ecot.json @@ -0,0 +1,2282 @@ +{ + "task_name": "episode_0000903", + "episode_json": "json/chunk-0000/episode_0000903.json", + "video_path": "videos/chunk-0000/image_0/episode_0000903.mp4", + "instruction": "Move the white object to the bottom right of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000903.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.2135782241821289, + "std": 0.09818107634782791, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.21358, std=0.09818, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 0, + 300, + 300, + 300, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 11 + ], + [ + 3, + 12, + 16 + ], + [ + 4, + 17, + 17 + ], + [ + 5, + 18, + 20 + ], + [ + 6, + 21, + 21 + ], + [ + 7, + 22, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach white object\", \"start\": 0, \"end\": 11, \"planning\": \"Move the end-effector from initial position toward the white object near the stove, aligning for contact.\"},\n {\"id\": 2, \"name\": \"make contact with white object\", \"start\": 12, \"end\": 16, \"planning\": \"Lower and adjust gripper to make stable contact with the white object without grasping.\"},\n {\"id\": 3, \"name\": \"reposition white object toward target\", \"start\": 17, \"end\": 21, \"planning\": \"Slide or nudge the white object across the stove surface toward the bottom right area.\"},\n {\"id\": 4, \"name\": \"grasp and lift white object\", \"start\": 22, \"end\": 27, \"planning\": \"Close gripper to securely grasp the white object and lift it slightly off the stove surface.\"},\n {\"id\": 5, \"name\": \"place white object at target location\", \"start\": 28, \"end\": 32, \"planning\": \"Move the grasped white object to the bottom right of the stove and release it into final position.\"}\n ],\n \"global_plan\": \"Approach the white object, make contact, slide it toward the target zone, then grasp, lift, and precisely place it at the bottom right of the stove.\",\n \"notes\": \"Segment 7 shows meaningful gripper closing (range=0.21358) and image evidence confirms grasp and placement; earlier segments show no meaningful closing so contact-based verbs are used. Frame coverage is complete and contiguous from 0 to 32.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach white object", + "start": 0, + "end": 11, + "planning": "Move the end-effector from initial position toward the white object near the stove, aligning for contact." + }, + { + "id": 2, + "name": "make contact with white object", + "start": 12, + "end": 16, + "planning": "Lower and adjust gripper to make stable contact with the white object without grasping." + }, + { + "id": 3, + "name": "reposition white object toward target", + "start": 17, + "end": 21, + "planning": "Slide or nudge the white object across the stove surface toward the bottom right area." + }, + { + "id": 4, + "name": "grasp and lift white object", + "start": 22, + "end": 27, + "planning": "Close gripper to securely grasp the white object and lift it slightly off the stove surface." + }, + { + "id": 5, + "name": "place white object at target location", + "start": 28, + "end": 32, + "planning": "Move the grasped white object to the bottom right of the stove and release it into final position." + } + ], + "global_plan": "Approach the white object, make contact, slide it toward the target zone, then grasp, lift, and precisely place it at the bottom right of the stove.", + "notes": "Segment 7 shows meaningful gripper closing (range=0.21358) and image evidence confirms grasp and placement; earlier segments show no meaningful closing so contact-based verbs are used. Frame coverage is complete and contiguous from 0 to 32." + } + }, + "episode_goal": "Move the white object to the bottom right of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3253338932991028, + 0.054740890860557556, + 0.09063097834587097, + -3.072436571121216, + -0.21612250804901123, + 0.3603575825691223 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the cooktop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the white spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 14 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3234407603740692, + 0.054404519498348236, + 0.08002682030200958, + -3.064159393310547, + -0.18024942278862, + 0.36003246903419495 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the cooktop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the white spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 15 cm, move down 6 cm, rotate clockwise 50 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32983577251434326, + 0.06932922452688217, + 0.08039753884077072, + -3.0704827308654785, + -0.1803506761789322, + 0.4107530415058136 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the cooktop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the white spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 14 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 40 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3332664966583252, + 0.09744461625814438, + 0.0827624574303627, + -3.138140916824341, + -0.18256711959838867, + 0.5671442151069641 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 674, + 410, + 993, + 905 + ], + "coffee maker": [ + 243, + 6, + 492, + 311 + ], + "spatula": [ + 373, + 434, + 581, + 675 + ], + "cloth": [ + 49, + 298, + 312, + 557 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the cooktop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the white spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 12 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 40 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3427533805370331, + 0.11977999657392502, + 0.08580118417739868, + 3.1173548698425293, + -0.20641222596168518, + 0.6757516860961914 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned above the stove with the white spatula visible on the cooktop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the white spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 9 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 30 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3475562632083893, + 0.15296916663646698, + 0.07563883066177368, + 3.1188876628875732, + -0.20219983160495758, + 0.8027908205986023 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533358871936798, + 0.17140379548072815, + 0.05804165452718735, + 3.1379761695861816, + -0.21218068897724152, + 0.9442316889762878 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3539646863937378, + 0.17798654735088348, + 0.04912007972598076, + 3.1264865398406982, + -0.22205901145935059, + 1.0883251428604126 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35341084003448486, + 0.18594659864902496, + 0.03966260701417923, + 3.0931127071380615, + -0.2115410566329956, + 1.18993079662323 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585522770881653, + 0.19418945908546448, + 0.0364193394780159, + 3.0955517292022705, + -0.21499848365783691, + 1.2281426191329956 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3630783259868622, + 0.19862280786037445, + 0.025812918320298195, + 3.1126303672790527, + -0.21073786914348602, + 1.2260183095932007 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 9 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36787572503089905, + 0.20464050769805908, + 0.019345324486494064, + 3.129220962524414, + -0.2097957283258438, + 1.2144150733947754 + ], + "gripper_value": 0.9530308246612549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "approach white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 14 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.37271061539649963, + 0.21295785903930664, + 0.016645153984427452, + -3.0846738815307617, + -0.22955657541751862, + 1.1979267597198486 + ], + "gripper_value": 0.8026900887489319 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 675, + 410, + 993, + 905 + ], + "cloth": [ + 49, + 299, + 313, + 556 + ], + "pot": [ + 433, + 234, + 690, + 435 + ], + "spatula": [ + 373, + 434, + 581, + 673 + ], + "lid": [ + 472, + 241, + 644, + 380 + ], + "coffee maker": [ + 150, + 8, + 332, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "make contact with white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 19 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.375527948141098, + 0.21071481704711914, + 0.01663387380540371, + -3.077728271484375, + -0.22767294943332672, + 1.1949793100357056 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "make contact with white object", + "subtask_reasoning": "The robot is positioned near the stove with the white object (spatula) visible on the stovetop. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spatula to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 19 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3765209913253784, + 0.20883595943450928, + 0.01686556451022625, + -3.085339307785034, + -0.21670009195804596, + 1.189942479133606 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "make contact with white object", + "subtask_reasoning": "The robot has approached the white spatula on the stove and is now positioned to make contact. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to gently push or slide the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 19 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3774441182613373, + 0.2070305198431015, + 0.016934175044298172, + -3.086538314819336, + -0.20880338549613953, + 1.1668193340301514 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "make contact with white object", + "subtask_reasoning": "The robot has approached the white spatula on the stove and is now positioned to make contact. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to gently push or slide the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 19 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38177046179771423, + 0.199067622423172, + 0.018787043169140816, + -3.1105947494506836, + -0.19847647845745087, + 1.1293507814407349 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "make contact with white object", + "subtask_reasoning": "The robot has approached the white spatula on the stove and is now positioned to make contact. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to gently push or slide the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 19 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 1 cm, move right 4 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869796097278595, + 0.18126340210437775, + 0.04850197955965996, + 3.1331207752227783, + -0.20286159217357635, + 1.0381815433502197 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "reposition white object toward target", + "subtask_reasoning": "The robot has approached the white spatula on the stove and is now positioned to make contact. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to gently push or slide the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 19 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 5 cm, move down 8 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816915452480316, + 0.16828462481498718, + 0.0777365192770958, + -3.1384735107421875, + -0.23424388468265533, + 0.9757717251777649 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "reposition white object toward target", + "subtask_reasoning": "The robot has approached the white spatula on the stove and is now positioned to make contact. The gripper remains open with no closing evidence, indicating no grasp has occurred yet. The next action is to gently push or slide the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 17 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 5 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3686871826648712, + 0.13858410716056824, + 0.10377246141433716, + -3.114149570465088, + -0.28045225143432617, + 0.8940181732177734 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "reposition white object toward target", + "subtask_reasoning": "The robot is in contact with the white spatula on the stove, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or pushing motion is occurring. The next action is to continue repositioning the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move right 5 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34848371148109436, + 0.08853822946548462, + 0.11486898362636566, + -3.1382737159729004, + -0.28576523065567017, + 0.7720194458961487 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "reposition white object toward target", + "subtask_reasoning": "The robot is in contact with the white spatula on the stove, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or pushing motion is occurring. The next action is to continue repositioning the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 9 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move right 5 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306627571582794, + 0.043810054659843445, + 0.10307919979095459, + 3.124729871749878, + -0.24490566551685333, + 0.5890271067619324 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "reposition white object toward target", + "subtask_reasoning": "The robot is in contact with the white spatula on the stove, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or pushing motion is occurring. The next action is to continue repositioning the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 5 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085395097732544, + -0.006364441942423582, + 0.08208925276994705, + -3.1228415966033936, + -0.22242334485054016, + 0.42528003454208374 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot is in contact with the white spatula on the stove, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or pushing motion is occurring. The next action is to continue repositioning the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2951585054397583, + -0.026436587795615196, + 0.06136910617351532, + -3.1012160778045654, + -0.2115207016468048, + 0.311033695936203 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 675, + 410, + 994, + 905 + ], + "cloth": [ + 49, + 298, + 312, + 556 + ], + "coffee maker": [ + 414, + 7, + 688, + 438 + ], + "washing machine": [ + 27, + 557, + 604, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot is in contact with the white spatula on the stove, having completed the approach and initial contact. The gripper remains open with no closing evidence, indicating a sliding or pushing motion is occurring. The next action is to continue repositioning the spatula toward the bottom right of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896536886692047, + -0.041484054177999496, + 0.03570684418082237, + -3.0504579544067383, + -0.18050239980220795, + 0.216150164604187 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 677, + 410, + 993, + 905 + ], + "washing machine": [ + 40, + 570, + 600, + 992 + ], + "cloth": [ + 50, + 297, + 312, + 557 + ] + } + } + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot is positioned above the white object on the stove, with the gripper open and ready to close. Contact has been made in prior steps, and the current subtask segment shows consistent gripper closure evidence. The next action is to fully close the gripper to grasp the white object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.29257598519325256, + -0.04085228592157364, + 0.01639459654688835, + -3.0131914615631104, + -0.1476254016160965, + 0.21202509105205536 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot is positioned above the white object on the stove, with the gripper open and ready to close. Contact has been made in prior steps, and the current subtask segment shows consistent gripper closure evidence. The next action is to fully close the gripper to grasp the white object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020559847354889, + -0.05056037753820419, + 0.007664453703910112, + -2.971585512161255, + -0.13709014654159546, + 0.14871597290039062 + ], + "gripper_value": 0.7988975048065186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot is positioned above the white object on the stove, with the gripper open and ready to close. Contact has been made in prior steps, and the current subtask segment shows consistent gripper closure evidence. The next action is to fully close the gripper to grasp the white object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080398142337799, + -0.05563706159591675, + 0.004512783605605364, + -2.996857166290283, + -0.12165382504463196, + 0.13646410405635834 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "grasp and lift white object", + "subtask_reasoning": "The robot is positioned above the white object on the stove, with the gripper open and ready to close. Contact has been made in prior steps, and the current subtask segment shows consistent gripper closure evidence. The next action is to fully close the gripper to grasp the white object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 22, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.305340975522995, + -0.054680775851011276, + -0.0014494661008939147, + -2.994060516357422, + -0.09608767926692963, + 0.13180981576442719 + ], + "gripper_value": 1.0124757289886475 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "place white object at target location", + "subtask_reasoning": "The robot is positioned above the white object on the stove, with the gripper open and ready to close. Contact has been made in prior steps, and the current subtask segment shows consistent gripper closure evidence. The next action is to fully close the gripper to grasp the white object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037931025028229, + -0.05222528055310249, + -0.0016449877293780446, + -2.994901657104492, + -0.08357733488082886, + 0.14598728716373444 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "place white object at target location", + "subtask_reasoning": "The robot is positioned above the white object on the stove, with the gripper open and ready to close. Contact has been made in prior steps, and the current subtask segment shows consistent gripper closure evidence. The next action is to fully close the gripper to grasp the white object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3041411340236664, + -0.047319795936346054, + 0.0011917398078367114, + -3.01235294342041, + -0.07990454137325287, + 0.1837034374475479 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "place white object at target location", + "subtask_reasoning": "The white object is currently positioned near the bottom right of the stove, with the gripper in contact and showing slight closing motion. The placement is nearly complete, and the next action should involve releasing the object to finalize its position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30803391337394714, + -0.047809045761823654, + 0.014451561495661736, + -3.0327253341674805, + -0.10243579745292664, + 0.1905471682548523 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "place white object at target location", + "subtask_reasoning": "The white object is currently positioned near the bottom right of the stove, with the gripper in contact and showing slight closing motion. The placement is nearly complete, and the next action should involve releasing the object to finalize its position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3103906810283661, + -0.04501137137413025, + 0.03338274359703064, + -3.069356918334961, + -0.11646686494350433, + 0.21121686697006226 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white object to the bottom right of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white object" + }, + { + "id": 2, + "subtask": "make contact with white object" + }, + { + "id": 3, + "subtask": "reposition white object toward target" + }, + { + "id": 4, + "subtask": "grasp and lift white object" + }, + { + "id": 5, + "subtask": "place white object at target location" + } + ], + "subtask_name": "place white object at target location", + "subtask_reasoning": "The white object is currently positioned near the bottom right of the stove, with the gripper in contact and showing slight closing motion. The placement is nearly complete, and the next action should involve releasing the object to finalize its position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000904_ecot.json b/cot/chunk-0000/episode_0000904_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ef35640d5c65ae21a5871cb540bc93996eb952ef --- /dev/null +++ b/cot/chunk-0000/episode_0000904_ecot.json @@ -0,0 +1,2500 @@ +{ + "task_name": "episode_0000904", + "episode_json": "json/chunk-0000/episode_0000904.json", + "video_path": "videos/chunk-0000/image_0/episode_0000904.mp4", + "instruction": "Put banana on the vessel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000904.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.6323423981666565, + "std": 0.30355507135391235, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.63234, std=0.30356, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 16, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 116, + 134, + 134, + 134, + 134, + 134 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 21 + ], + [ + 3, + 22, + 33 + ], + [ + 4, + 34, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach banana\", \"start\": 0, \"end\": 14, \"planning\": \"Move the gripper from initial position toward the banana on the orange cloth, preparing for grasp.\"},\n {\"id\": 2, \"name\": \"grasp banana\", \"start\": 15, \"end\": 21, \"planning\": \"Close gripper around banana and lift it slightly off the cloth, confirmed by gripper closure and upward motion.\"},\n {\"id\": 3, \"name\": \"transport banana to vessel\", \"start\": 22, \"end\": 33, \"planning\": \"Carry the grasped banana over the metal vessel, adjusting pose for precise placement.\"},\n {\"id\": 4, \"name\": \"release banana into vessel\", \"start\": 34, \"end\": 38, \"planning\": \"Open gripper to drop banana into vessel, then retreat upward to complete placement.\"}\n ],\n \"global_plan\": \"Approach the banana on the cloth, grasp it securely, transport it over the metal vessel, and release it inside the vessel to complete the task.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 1–4; images support grasp at frame 15, hold during transport, and release at frame 34–38. Motion and gripper data align with pick-and-place mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach banana", + "start": 0, + "end": 14, + "planning": "Move the gripper from initial position toward the banana on the orange cloth, preparing for grasp." + }, + { + "id": 2, + "name": "grasp banana", + "start": 15, + "end": 21, + "planning": "Close gripper around banana and lift it slightly off the cloth, confirmed by gripper closure and upward motion." + }, + { + "id": 3, + "name": "transport banana to vessel", + "start": 22, + "end": 33, + "planning": "Carry the grasped banana over the metal vessel, adjusting pose for precise placement." + }, + { + "id": 4, + "name": "release banana into vessel", + "start": 34, + "end": 38, + "planning": "Open gripper to drop banana into vessel, then retreat upward to complete placement." + } + ], + "global_plan": "Approach the banana on the cloth, grasp it securely, transport it over the metal vessel, and release it inside the vessel to complete the task.", + "notes": "Gripper evidence confirms meaningful closing in segments 1–4; images support grasp at frame 15, hold during transport, and release at frame 34–38. Motion and gripper data align with pick-and-place mechanics." + } + }, + "episode_goal": "Place the banana into the metal vessel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2375452220439911, + 0.008775661699473858, + 0.18426434695720673, + 2.907301664352417, + -0.041902631521224976, + 0.027448831126093864 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 13 cm, move down 10 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23822082579135895, + 0.009627954103052616, + 0.17864854633808136, + 2.9078369140625, + -0.01667693257331848, + 0.034345462918281555 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 13 cm, move down 12 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2519751191139221, + 0.016478819772601128, + 0.1749182492494583, + 2.9398982524871826, + -0.001090833218768239, + 0.04534929618239403 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 12 cm, move down 14 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26939520239830017, + 0.02747969701886177, + 0.1764914095401764, + 2.9555671215057373, + -0.01607227511703968, + 0.03770922124385834 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 12 cm, move down 15 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27953681349754333, + 0.05441872403025627, + 0.1813671737909317, + 2.9798061847686768, + -0.05867352709174156, + 0.07668496668338776 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, move down 16 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.28018468618392944, + 0.08540751039981842, + 0.17728866636753082, + 2.994777202606201, + -0.0678466185927391, + 0.11445926874876022 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 309, + 490, + 617, + 767 + ], + "fork": [ + 609, + 525, + 802, + 823 + ], + "orange cloth": [ + 190, + 263, + 434, + 469 + ], + "banana": [ + 284, + 276, + 362, + 409 + ], + "wooden board": [ + 16, + 189, + 895, + 984 + ], + "red carrot": [ + 607, + 625, + 734, + 824 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 6 cm, move down 16 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27991583943367004, + 0.11418382078409195, + 0.1640986055135727, + 3.010155200958252, + -0.05552329868078232, + 0.14033383131027222 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No actions have been completed yet as the gripper is open and the robot is stationary. The next step is to move the end-effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 15 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28688308596611023, + 0.133100688457489, + 0.14839093387126923, + 3.0363729000091553, + -0.07662276178598404, + 0.14621089398860931 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 13 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.29529863595962524, + 0.14242850244045258, + 0.13274583220481873, + 3.067011833190918, + -0.09681699424982071, + 0.17111711204051971 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 11 cm, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018456697463989, + 0.14430208504199982, + 0.10784568637609482, + 3.0878117084503174, + -0.10959009826183319, + 0.20497210323810577 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 9 cm, close gripper; then move back 2 cm, move right 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31121477484703064, + 0.1378856748342514, + 0.07964468747377396, + 3.1046104431152344, + -0.09604321420192719, + 0.1935150921344757 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, close gripper; then move back 2 cm, move right 2 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3135222792625427, + 0.140862375497818, + 0.05504337325692177, + 3.1218812465667725, + -0.08988772332668304, + 0.21822361648082733 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, close gripper; then move back 3 cm, move right 4 cm, move up 9 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31801918148994446, + 0.1400419920682907, + 0.03693849965929985, + 3.105588912963867, + -0.08246233314275742, + 0.22830410301685333 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 308, + 490, + 616, + 768 + ], + "fork": [ + 607, + 526, + 802, + 822 + ], + "wooden board": [ + 15, + 219, + 894, + 985 + ], + "black tongs": [ + 152, + 3, + 376, + 405 + ], + "orange cloth": [ + 188, + 277, + 437, + 469 + ], + "banana": [ + 282, + 290, + 339, + 411 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 4 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291786313056946, + 0.1449923813343048, + 0.028868231922388077, + 3.102510452270508, + -0.09689071029424667, + 0.24017061293125153 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333977460861206, + 0.1473083645105362, + 0.018481137230992317, + 3.0995686054229736, + -0.09126970171928406, + 0.24313467741012573 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "approach banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33492016792297363, + 0.14722959697246552, + 0.018718577921390533, + 3.0926713943481445, + -0.09783279895782471, + 0.24403417110443115 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3332071006298065, + 0.1440122276544571, + 0.016526613384485245, + 3.0780012607574463, + -0.09529203176498413, + 0.24586093425750732 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32447394728660583, + 0.13721796870231628, + 0.019065232947468758, + 3.0617806911468506, + -0.07539964467287064, + 0.24932138621807098 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot is positioned above the workspace with the banana visible on an orange cloth and the metal vessel nearby. No part of the task has been completed yet as the banana remains untouched. The next action should involve moving the end effector closer to the banana to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 9 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32424378395080566, + 0.13437014818191528, + 0.04416782781481743, + 3.054288148880005, + -0.12519195675849915, + 0.2601206302642822 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31854259967803955, + 0.1326569765806198, + 0.07059179246425629, + 3.032980442047119, + -0.16398648917675018, + 0.27531683444976807 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31006333231925964, + 0.12779773771762848, + 0.10170438140630722, + 3.0167109966278076, + -0.20183303952217102, + 0.2798890471458435 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 4 cm, move down 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30397510528564453, + 0.106655053794384, + 0.11181319504976273, + 3.0074048042297363, + -0.18500886857509613, + 0.21499323844909668 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "grasp banana", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move right 4 cm, move down 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900082767009735, + 0.06644344329833984, + 0.1050756499171257, + 2.9836034774780273, + -0.12436235696077347, + 0.11890517175197601 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 8 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.267707496881485, + 0.03496452793478966, + 0.1069226786494255, + 2.9454095363616943, + -0.12046883255243301, + 0.056100256741046906 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 8 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24569149315357208, + 0.006559198722243309, + 0.10757265239953995, + 2.9470598697662354, + -0.11561773717403412, + -0.011656660586595535 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2242337167263031, + -0.006894534453749657, + 0.10943146049976349, + 2.9684042930603027, + -0.13137036561965942, + -0.053643256425857544 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.20801261067390442, + -0.0074961548671126366, + 0.10406490415334702, + 2.9812536239624023, + -0.16061067581176758, + -0.048372674733400345 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the banana on the orange cloth, with the gripper fingers open and aligned for grasping. The approach phase is complete, and the gripper is now closing to secure the banana. The next action is to fully close the gripper to grasp the banana before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 5 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2073647528886795, + 0.003072855295613408, + 0.09525321424007416, + 3.0168490409851074, + -0.19072893261909485, + -0.038640838116407394 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 347, + 488, + 616, + 750 + ], + "black tongs": [ + 99, + 11, + 518, + 632 + ], + "fork": [ + 608, + 525, + 804, + 823 + ], + "wooden board": [ + 12, + 242, + 895, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, open gripper; then move left 1 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.21600422263145447, + 0.01355811022222042, + 0.08774405717849731, + 3.054537057876587, + -0.21685244143009186, + -0.016090789809823036 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move left 3 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22364720702171326, + 0.019799189642071724, + 0.06570368260145187, + 3.0749106407165527, + -0.17414934933185577, + 0.0009890251094475389 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move left 3 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23013842105865479, + 0.023009542375802994, + 0.039907559752464294, + 3.0907368659973145, + -0.12265443801879883, + 0.007525313645601273 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, open gripper; then move left 3 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23505538702011108, + 0.023681748658418655, + 0.022928476333618164, + 3.088665723800659, + -0.08937644213438034, + -0.0005789383430965245 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move left 3 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.23363159596920013, + 0.019702108576893806, + 0.02209337055683136, + 3.065585136413574, + -0.08045493066310883, + 0.000979699078015983 + ], + "gripper_value": 0.36781078577041626 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper open; then move left 3 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.22927451133728027, + 0.012693392112851143, + 0.031207658350467682, + 3.0435407161712646, + -0.06444276869297028, + -0.021803587675094604 + ], + "gripper_value": 0.45967593789100647 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "transport banana to vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move left 3 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.23111774027347565, + 0.009626123122870922, + 0.05465611815452576, + 3.029367446899414, + -0.10741887986660004, + -0.025991901755332947 + ], + "gripper_value": 0.7672095894813538 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "fork": [ + 609, + 525, + 804, + 823 + ], + "orange cloth": [ + 211, + 281, + 325, + 474 + ], + "wooden board": [ + 16, + 225, + 894, + 984 + ], + "red carrot": [ + 607, + 625, + 736, + 822 + ], + "metal bowl": [ + 387, + 462, + 630, + 779 + ] + } + } + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "release banana into vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 12 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.23012003302574158, + 0.007210461888462305, + 0.07878664135932922, + 3.0225114822387695, + -0.1545546054840088, + -0.02921961434185505 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "release banana into vessel", + "subtask_reasoning": "The robot is currently holding the banana and moving it toward the metal vessel. The gripper remains closed, indicating secure grasp during transport. The next action is to position the banana directly over the vessel for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.22905375063419342, + 0.009938581846654415, + 0.09944824129343033, + 3.007011651992798, + -0.17978912591934204, + -0.019852343946695328 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "release banana into vessel", + "subtask_reasoning": "The banana is already inside the metal vessel, and the gripper is open above it. The subtask of releasing the banana into the vessel has been completed. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.22879905998706818, + 0.019825393334031105, + 0.13111981749534607, + 2.976670026779175, + -0.16734018921852112, + 0.01620648428797722 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "release banana into vessel", + "subtask_reasoning": "The banana is already inside the metal vessel, and the gripper is open above it. The subtask of releasing the banana into the vessel has been completed. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.22923964262008667, + 0.04012385383248329, + 0.1710069477558136, + 2.9698641300201416, + -0.13322238624095917, + 0.08628390729427338 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the banana into the metal vessel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach banana" + }, + { + "id": 2, + "subtask": "grasp banana" + }, + { + "id": 3, + "subtask": "transport banana to vessel" + }, + { + "id": 4, + "subtask": "release banana into vessel" + } + ], + "subtask_name": "release banana into vessel", + "subtask_reasoning": "The banana is already inside the metal vessel, and the gripper is open above it. The subtask of releasing the banana into the vessel has been completed. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000905_ecot.json b/cot/chunk-0000/episode_0000905_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7710077fdc802a4415e3e86689e55a8c4f7f5f86 --- /dev/null +++ b/cot/chunk-0000/episode_0000905_ecot.json @@ -0,0 +1,2674 @@ +{ + "task_name": "episode_0000905", + "episode_json": "json/chunk-0000/episode_0000905.json", + "video_path": "videos/chunk-0000/image_0/episode_0000905.mp4", + "instruction": "Fold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000905.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.9105654358863831, + "std": 0.411957710981369, + "delta_total": -0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.91057, std=0.41196, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 105, + 105, + 105, + 105, + 105, + 105, + 5, + 5, + 5, + 5, + 205, + 205, + 205, + 205, + 219, + 219, + 219, + 219, + 219, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319, + 319 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 10 + ], + [ + 3, + 11, + 14 + ], + [ + 4, + 15, + 18 + ], + [ + 5, + 19, + 23 + ], + [ + 6, + 24, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 4, \"planning\": \"Move gripper toward bottom-right corner of orange cloth while closing fingers to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 5, \"end\": 10, \"planning\": \"Establish physical contact with cloth corner and begin nudging it upward-leftward without full grasp.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 11, \"end\": 14, \"planning\": \"Continue dragging cloth from bottom-right toward top-left using sustained contact, no active gripping.\"},\n {\"id\": 4, \"name\": \"reposition grip for fold\", \"start\": 15, \"end\": 18, \"planning\": \"Adjust gripper position and partially close to secure better hold on cloth for controlled folding motion.\"},\n {\"id\": 5, \"name\": \"complete fold placement\", \"start\": 19, \"end\": 23, \"planning\": \"Lift and guide cloth into folded position at top-left, releasing tension as fold settles.\"},\n {\"id\": 6, \"name\": \"retreat and verify\", \"start\": 24, \"end\": 35, \"planning\": \"Withdraw gripper from cloth area and hover to confirm successful fold completion without disturbance.\"}\n ],\n \"global_plan\": \"Fold the orange cloth by first approaching its bottom-right corner, making contact, dragging it diagonally toward top-left, adjusting grip for control, completing the fold placement, then retreating to verify.\",\n \"notes\": \"Gripper evidence supports meaningful closing only in segments 1 and 4; segments 3 and 6 explicitly lack closing evidence so contact-based verbs are used. Segment 2 and 5 inferred from motion continuity and task goal despite missing explicit keyframes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 4, + "planning": "Move gripper toward bottom-right corner of orange cloth while closing fingers to prepare for contact." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 5, + "end": 10, + "planning": "Establish physical contact with cloth corner and begin nudging it upward-leftward without full grasp." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 11, + "end": 14, + "planning": "Continue dragging cloth from bottom-right toward top-left using sustained contact, no active gripping." + }, + { + "id": 4, + "name": "reposition grip for fold", + "start": 15, + "end": 18, + "planning": "Adjust gripper position and partially close to secure better hold on cloth for controlled folding motion." + }, + { + "id": 5, + "name": "complete fold placement", + "start": 19, + "end": 23, + "planning": "Lift and guide cloth into folded position at top-left, releasing tension as fold settles." + }, + { + "id": 6, + "name": "retreat and verify", + "start": 24, + "end": 35, + "planning": "Withdraw gripper from cloth area and hover to confirm successful fold completion without disturbance." + } + ], + "global_plan": "Fold the orange cloth by first approaching its bottom-right corner, making contact, dragging it diagonally toward top-left, adjusting grip for control, completing the fold placement, then retreating to verify.", + "notes": "Gripper evidence supports meaningful closing only in segments 1 and 4; segments 3 and 6 explicitly lack closing evidence so contact-based verbs are used. Segment 2 and 5 inferred from motion continuity and task goal despite missing explicit keyframes." + } + }, + "episode_goal": "Fold the orange cloth from bottom right to top left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23812079429626465, + 0.031825970858335495, + 0.03981844708323479, + 2.9820446968078613, + -0.32640382647514343, + 0.6061257123947144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table near the orange cloth, with the gripper open and not yet in contact. No part of the folding task has been completed. The next action is to move the gripper toward the bottom-right corner of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, close gripper; then move forward 13 cm, move left 4 cm, move up 10 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.23632760345935822, + 0.03216276690363884, + 0.03607846423983574, + 2.988746404647827, + -0.31074944138526917, + 0.6134532690048218 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the table near the orange cloth, with the gripper open and not yet in contact. No part of the folding task has been completed. The next action is to move the gripper toward the bottom-right corner of the cloth to establish contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, close gripper; then move forward 15 cm, move left 6 cm, move up 8 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24908249080181122, + 0.02991326153278351, + 0.04157112538814545, + 2.982569932937622, + -0.3312952518463135, + 0.6243855357170105 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action should involve moving the gripper down to grasp the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, keep gripper closed; then move forward 15 cm, move left 6 cm, move up 8 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25824832916259766, + 0.028626181185245514, + 0.03570064529776573, + 3.0124945640563965, + -0.24667391180992126, + 0.5759039521217346 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action should involve moving the gripper down to grasp the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 15 cm, move left 6 cm, move up 8 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 4 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26454228162765503, + 0.031166737899184227, + 0.03123347833752632, + 2.993774890899658, + -0.2684766948223114, + 0.5967896580696106 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action should involve moving the gripper down to grasp the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 15 cm, move left 6 cm, move up 8 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 7 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678036689758301, + 0.03312703222036362, + 0.02517140470445156, + 2.9992406368255615, + -0.2622417211532593, + 0.6224318742752075 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action should involve moving the gripper down to grasp the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 6 cm, move up 8 cm, tilt left 20 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27502042055130005, + 0.029660599306225777, + 0.040381547063589096, + 3.008317708969116, + -0.19059674441814423, + 0.6224240064620972 + ], + "gripper_value": 0.18066829442977905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, with the gripper open and ready to make contact. No part of the folding task has been completed yet. The next action should involve moving the gripper down to grasp the bottom-right corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move left 7 cm, move up 6 cm, tilt left 10 degrees, tilt forward 20 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3020847737789154, + 0.040300868451595306, + 0.07977563887834549, + 3.012897253036499, + -0.04160304740071297, + 0.708228588104248 + ], + "gripper_value": 0.10793770849704742 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 787, + 675, + 933, + 902 + ], + "plastic egg": [ + 768, + 481, + 896, + 664 + ], + "wooden table": [ + 4, + 183, + 995, + 995 + ], + "white board": [ + 698, + 20, + 996, + 487 + ], + "orange bag": [ + 319, + 249, + 608, + 641 + ], + "yellow wedge": [ + 444, + 665, + 607, + 837 + ], + "utility knife": [ + 859, + 435, + 995, + 537 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the bottom-right corner of the orange cloth and is now making contact. The gripper is slightly open, indicating readiness to nudge or grasp. The next action should involve a controlled nudge or light grasp to begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.335055947303772, + 0.048175208270549774, + 0.11775030940771103, + 3.0243992805480957, + 0.10878627002239227, + 0.7900177240371704 + ], + "gripper_value": 0.09624730050563812 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the bottom-right corner of the orange cloth and is now making contact. The gripper is slightly open, indicating readiness to nudge or grasp. The next action should involve a controlled nudge or light grasp to begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3675207495689392, + 0.061757881194353104, + 0.12459256500005722, + 3.082850933074951, + 0.19015860557556152, + 0.8783015012741089 + ], + "gripper_value": 0.09624730050563812 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the bottom-right corner of the orange cloth and is now making contact. The gripper is slightly open, indicating readiness to nudge or grasp. The next action should involve a controlled nudge or light grasp to begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3971565365791321, + 0.07260225713253021, + 0.1203489750623703, + 3.1189186573028564, + 0.20044821500778198, + 0.9331487417221069 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot has approached the bottom-right corner of the orange cloth and is now making contact. The gripper is slightly open, indicating readiness to nudge or grasp. The next action should involve a controlled nudge or light grasp to begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move forward 2 cm, move left 9 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42098236083984375, + 0.09584575146436691, + 0.10396301001310349, + -3.1116998195648193, + 0.19148404896259308, + 1.0204360485076904 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-right corner of the orange cloth and is now making contact. The gripper is slightly open, indicating readiness to nudge or grasp. The next action should involve a controlled nudge or light grasp to begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 6 cm, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4338674545288086, + 0.11827944964170456, + 0.08663424104452133, + -3.0721075534820557, + 0.16070877015590668, + 1.0978301763534546 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the orange cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue sliding the cloth diagonally toward the top-left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.44189319014549255, + 0.137242391705513, + 0.07498772442340851, + -3.066378355026245, + 0.0792132243514061, + 1.1342540979385376 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the orange cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue sliding the cloth diagonally toward the top-left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4414868950843811, + 0.16468799114227295, + 0.05359181761741638, + -3.073162317276001, + 0.003963220864534378, + 1.1485410928726196 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is in contact with the orange cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue sliding the cloth diagonally toward the top-left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4403061866760254, + 0.1869441717863083, + 0.04640355706214905, + 3.123699903488159, + -0.07950201630592346, + 1.1300548315048218 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange bag": [ + 303, + 206, + 570, + 471 + ], + "blue cup": [ + 786, + 675, + 934, + 902 + ], + "wooden table": [ + 4, + 183, + 996, + 995 + ], + "plastic egg": [ + 768, + 481, + 896, + 664 + ], + "utility knife": [ + 859, + 435, + 995, + 536 + ], + "yellow wedge": [ + 445, + 665, + 606, + 837 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "reposition grip for fold", + "subtask_reasoning": "The robot is in contact with the orange cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue sliding the cloth diagonally toward the top-left to execute the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.44099611043930054, + 0.2040751874446869, + 0.04353269562125206, + 3.0378293991088867, + -0.11791806668043137, + 1.0877474546432495 + ], + "gripper_value": 0.09549706429243088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "reposition grip for fold", + "subtask_reasoning": "The robot has contacted the bottom-right corner of the orange cloth and is now repositioning its grip to prepare for the diagonal fold. The gripper shows meaningful closure variation consistent with adjusting hold. Next, it should secure a stable grip before dragging the cloth toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4436444044113159, + 0.20938771963119507, + 0.044276800006628036, + 2.985783100128174, + -0.12114249914884567, + 1.0426945686340332 + ], + "gripper_value": 0.14426259696483612 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "reposition grip for fold", + "subtask_reasoning": "The robot has contacted the bottom-right corner of the orange cloth and is now repositioning its grip to prepare for the diagonal fold. The gripper shows meaningful closure variation consistent with adjusting hold. Next, it should secure a stable grip before dragging the cloth toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.45187506079673767, + 0.20945590734481812, + 0.06653305143117905, + 2.9311702251434326, + -0.12176475673913956, + 0.9783785939216614 + ], + "gripper_value": 0.3188876807689667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "reposition grip for fold", + "subtask_reasoning": "The robot has contacted the bottom-right corner of the orange cloth and is now repositioning its grip to prepare for the diagonal fold. The gripper shows meaningful closure variation consistent with adjusting hold. Next, it should secure a stable grip before dragging the cloth toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.45300495624542236, + 0.2146291732788086, + 0.051332708448171616, + 2.9356093406677246, + -0.08070429414510727, + 0.9779937267303467 + ], + "gripper_value": 0.603904664516449 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "complete fold placement", + "subtask_reasoning": "The robot has contacted the bottom-right corner of the orange cloth and is now repositioning its grip to prepare for the diagonal fold. The gripper shows meaningful closure variation consistent with adjusting hold. Next, it should secure a stable grip before dragging the cloth toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4560047388076782, + 0.21600057184696198, + 0.06501411646604538, + 2.908473253250122, + -0.06937165558338165, + 1.0042908191680908 + ], + "gripper_value": 0.9116221070289612 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "complete fold placement", + "subtask_reasoning": "The robot has contacted the bottom-right corner of the orange cloth and is now repositioning its grip to prepare for the diagonal fold. The gripper shows meaningful closure variation consistent with adjusting hold. Next, it should secure a stable grip before dragging the cloth toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4523892402648926, + 0.2198275625705719, + 0.07006320357322693, + 2.8917348384857178, + -0.04904649779200554, + 1.008196234703064 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "complete fold placement", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move up 10 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.45031988620758057, + 0.21987876296043396, + 0.070014588534832, + 2.891127347946167, + -0.03823775425553322, + 0.9970899820327759 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "complete fold placement", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move up 11 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.44885218143463135, + 0.2186935544013977, + 0.06848756968975067, + 2.899062156677246, + -0.03851885348558426, + 0.9666402339935303 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "complete fold placement", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, move up 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4441184997558594, + 0.20837166905403137, + 0.07245852798223495, + 2.955625295639038, + -0.16517144441604614, + 0.8656580448150635 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 12 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4403018057346344, + 0.18980388343334198, + 0.09529842436313629, + 2.885838270187378, + -0.3229518532752991, + 0.7445653080940247 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 787, + 675, + 933, + 902 + ], + "orange bag": [ + 264, + 166, + 551, + 434 + ], + "plastic egg": [ + 768, + 481, + 896, + 664 + ], + "wooden table": [ + 4, + 173, + 995, + 995 + ], + "white board": [ + 698, + 21, + 996, + 489 + ], + "yellow wedge": [ + 445, + 664, + 607, + 838 + ], + "utility knife": [ + 859, + 435, + 996, + 536 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 11 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.43638914823532104, + 0.18770654499530792, + 0.09525396674871445, + 2.8988125324249268, + -0.3908628225326538, + 0.699644923210144 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 11 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4371820092201233, + 0.17926764488220215, + 0.10176149755716324, + 2.966017007827759, + -0.3716145157814026, + 0.6494854092597961 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 10 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4407583475112915, + 0.17684023082256317, + 0.10388471186161041, + 2.9858603477478027, + -0.3906710743904114, + 0.6327612400054932 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth is currently held aloft by the gripper, indicating the fold has been lifted but not yet placed. The segment-level gripper evidence confirms a grasp is active. The next action is to lower the cloth onto the table to complete the fold placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 10 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.44279545545578003, + 0.18153727054595947, + 0.12362276762723923, + 3.025432586669922, + -0.39938774704933167, + 0.6272626519203186 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The robot arm is currently elevated and retreating from the cloth. Since the gripper is open and the fold appears complete, the next action is to continue moving away to verify the final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.44814714789390564, + 0.1792871206998825, + 0.14891505241394043, + 3.088733434677124, + -0.3739961087703705, + 0.6370179653167725 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cup": [ + 787, + 675, + 934, + 902 + ], + "plastic egg": [ + 767, + 481, + 896, + 664 + ], + "wooden table": [ + 4, + 180, + 995, + 995 + ], + "orange bag": [ + 256, + 19, + 552, + 384 + ], + "white board": [ + 698, + 20, + 996, + 485 + ], + "yellow wedge": [ + 444, + 664, + 607, + 837 + ], + "utility knife": [ + 859, + 435, + 995, + 536 + ] + } + } + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The robot arm is currently elevated and retreating from the cloth. Since the gripper is open and the fold appears complete, the next action is to continue moving away to verify the final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.44998475909233093, + 0.17548193037509918, + 0.16840648651123047, + 3.0461184978485107, + -0.32267385721206665, + 0.6448699235916138 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The robot arm is currently elevated and retreating from the cloth. Since the gripper is open and the fold appears complete, the next action is to continue moving away to verify the final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4437171518802643, + 0.18175747990608215, + 0.18147753179073334, + 3.0265543460845947, + -0.2779288589954376, + 0.6658847332000732 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The robot arm is currently elevated and retreating from the cloth. Since the gripper is open and the fold appears complete, the next action is to continue moving away to verify the final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4428277015686035, + 0.1781986504793167, + 0.189653217792511, + 3.006361722946167, + -0.26248204708099365, + 0.6536680459976196 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The robot arm is currently elevated and retreating from the cloth. Since the gripper is open and the fold appears complete, the next action is to continue moving away to verify the final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4385814070701599, + 0.18032681941986084, + 0.1936139315366745, + 2.9774117469787598, + -0.24242670834064484, + 0.6587641835212708 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The robot arm is currently elevated and retreating from the cloth. Since the gripper is open and the fold appears complete, the next action is to continue moving away to verify the final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4333558976650238, + 0.18616272509098053, + 0.2045043259859085, + 2.9539525508880615, + -0.2411087602376938, + 0.6727419495582581 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the orange cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "reposition grip for fold" + }, + { + "id": 5, + "subtask": "complete fold placement" + }, + { + "id": 6, + "subtask": "retreat and verify" + } + ], + "subtask_name": "retreat and verify", + "subtask_reasoning": "The orange cloth has been folded and is resting on the table. The robot arm is currently elevated and retreating from the cloth. Since the gripper is open and the fold appears complete, the next action is to continue moving away to verify the final placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 24, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000906_ecot.json b/cot/chunk-0000/episode_0000906_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bc5283cd5658452d4064de270bd833d0b22f00fd --- /dev/null +++ b/cot/chunk-0000/episode_0000906_ecot.json @@ -0,0 +1,1298 @@ +{ + "task_name": "episode_0000906", + "episode_json": "json/chunk-0000/episode_0000906.json", + "video_path": "videos/chunk-0000/image_0/episode_0000906.mp4", + "instruction": "Close brown1fbox flap.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000906.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 2.384185791015625e-07, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box flap\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the brown box flap from initial position.\"},\n {\"id\": 2, \"name\": \"make contact with flap\", \"start\": 6, \"end\": 12, \"planning\": \"Position end-effector to touch and begin pressing the flap downward without grasping.\"},\n {\"id\": 3, \"name\": \"push flap closed\", \"start\": 13, \"end\": 17, \"planning\": \"Apply continuous downward pressure to fold the flap into closed position using contact force.\"},\n {\"id\": 4, \"name\": \"release contact and retreat\", \"start\": 18, \"end\": 19, \"planning\": \"Lift end-effector slightly away from the now-closed flap to complete the task.\"}\n ],\n \"global_plan\": \"Close the brown1fbox flap by approaching, making contact, pushing it down via sustained contact (no grasp), then retreating after closure.\",\n \"notes\": \"Gripper remains fully open throughout; all actions are contact-based pushing/nudging, no grasping or lifting inferred. Segment boundaries respected but split for finer manipulation phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box flap", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the brown box flap from initial position." + }, + { + "id": 2, + "name": "make contact with flap", + "start": 6, + "end": 12, + "planning": "Position end-effector to touch and begin pressing the flap downward without grasping." + }, + { + "id": 3, + "name": "push flap closed", + "start": 13, + "end": 17, + "planning": "Apply continuous downward pressure to fold the flap into closed position using contact force." + }, + { + "id": 4, + "name": "release contact and retreat", + "start": 18, + "end": 19, + "planning": "Lift end-effector slightly away from the now-closed flap to complete the task." + } + ], + "global_plan": "Close the brown1fbox flap by approaching, making contact, pushing it down via sustained contact (no grasp), then retreating after closure.", + "notes": "Gripper remains fully open throughout; all actions are contact-based pushing/nudging, no grasping or lifting inferred. Segment boundaries respected but split for finer manipulation phases." + } + }, + "episode_goal": "Close the brown1fbox flap.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.19447846710681915, + 0.18261873722076416, + 0.12037046998739243, + -2.989079713821411, + -0.2308385670185089, + 0.022759228944778442 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no contact made. The next action is to move the end effector closer to the box flap to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 5 cm, tilt right 40 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.1934681534767151, + 0.17840643227100372, + 0.10897576808929443, + -3.0688440799713135, + -0.18150953948497772, + 0.03600524365901947 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no contact made. The next action is to move the end effector closer to the box flap to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt right 30 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move right 6 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.20179352164268494, + 0.18410976231098175, + 0.09431122243404388, + 2.9904963970184326, + -0.08852288126945496, + 0.05710063874721527 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet in this subtask. The gripper remains open and stationary, indicating no contact or grasp has occurred. The next likely action is to move the end effector closer to the flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 2 cm, tilt right 20 degrees, keep gripper open; then move back 3 cm, move right 8 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.20584271848201752, + 0.18494892120361328, + 0.08667957037687302, + 2.8639304637908936, + -0.04082794114947319, + 0.07079968601465225 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet in this subtask. The gripper remains open and stationary, indicating no contact or grasp has occurred. The next likely action is to move the end effector closer to the flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move right 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.21165192127227783, + 0.18336105346679688, + 0.07929515093564987, + 2.7624802589416504, + -0.009382965974509716, + 0.08491626381874084 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet in this subtask. The gripper remains open and stationary, indicating no contact or grasp has occurred. The next likely action is to move the end effector closer to the flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, keep gripper open; then move back 3 cm, move right 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2237112820148468, + 0.18327760696411133, + 0.07730687409639359, + 2.673238754272461, + -0.006657554768025875, + 0.10349347442388535 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet in this subtask. The gripper remains open and stationary, indicating no contact or grasp has occurred. The next likely action is to move the end effector closer to the flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 3 cm, move right 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move right 4 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22753004729747772, + 0.17493507266044617, + 0.07362993061542511, + 2.629561424255371, + -0.031702376902103424, + 0.13396131992340088 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet in this subtask. The gripper remains open and stationary, indicating no contact or grasp has occurred. The next likely action is to move the end effector closer to the flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 6 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22263382375240326, + 0.15741118788719177, + 0.06617505103349686, + 2.565295457839966, + -0.02045339159667492, + 0.17485693097114563 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet in this subtask. The gripper remains open and stationary, indicating no contact or grasp has occurred. The next likely action is to move the end effector closer to the flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, move up 8 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 8 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21661478281021118, + 0.15033847093582153, + 0.07872297614812851, + 2.5580637454986572, + -0.03900051489472389, + 0.22127865254878998 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange": [ + 427, + 602, + 593, + 786 + ], + "hinge": [ + 54, + 521, + 189, + 636 + ] + } + } + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the open brown box with the flap visible and accessible. No actions have been completed yet in this subtask. The gripper remains open and stationary, indicating no contact or grasp has occurred. The next likely action is to move the end effector closer to the flap to initiate contact for pushing it down." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 7 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21460312604904175, + 0.14595967531204224, + 0.08682222664356232, + 2.5573060512542725, + -0.028062647208571434, + 0.23435576260089874 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the brown1fbox and is now positioned near the open flap. No grasp has occurred as gripper remains open. The next action is to make physical contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 7 cm, move up 6 cm, tilt left 20 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21286824345588684, + 0.13369576632976532, + 0.10719435662031174, + 2.602400302886963, + -0.042476147413253784, + 0.2470288872718811 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the brown1fbox and is now positioned near the open flap. No grasp has occurred as gripper remains open. The next action is to make physical contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20994381606578827, + 0.11867652088403702, + 0.12257789820432663, + 2.654310464859009, + -0.07764997333288193, + 0.2613449990749359 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the brown1fbox and is now positioned near the open flap. No grasp has occurred as gripper remains open. The next action is to make physical contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2005637139081955, + 0.09851863235235214, + 0.1321205198764801, + 2.7404332160949707, + -0.12728449702262878, + 0.25255057215690613 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot has approached the brown1fbox and is now positioned near the open flap. No grasp has occurred as gripper remains open. The next action is to make physical contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19539649784564972, + 0.07535364478826523, + 0.14732609689235687, + 2.8355839252471924, + -0.18927738070487976, + 0.2503756880760193 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot has approached the brown1fbox and is now positioned near the open flap. No grasp has occurred as gripper remains open. The next action is to make physical contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 10 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19608548283576965, + 0.054086070507764816, + 0.15840382874011993, + 2.8948733806610107, + -0.21503567695617676, + 0.2452368587255478 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot has approached the brown1fbox and is now positioned near the open flap. No grasp has occurred as gripper remains open. The next action is to make physical contact with the flap to begin pushing it closed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19745703041553497, + 0.03544889762997627, + 0.16567571461200714, + 2.944221258163452, + -0.23816204071044922, + 0.2185814082622528 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot end-effector is in contact with the brown1fbox flap, which remains partially open. Approach and initial contact have been completed. The next action is to push the flap downward via sustained contact to close it, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20159661769866943, + 0.015772871673107147, + 0.16855408251285553, + 2.953883647918701, + -0.24192121624946594, + 0.229230597615242 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot end-effector is in contact with the brown1fbox flap, which remains partially open. Approach and initial contact have been completed. The next action is to push the flap downward via sustained contact to close it, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20755694806575775, + -0.006916961632668972, + 0.16235920786857605, + 2.9414000511169434, + -0.20285160839557648, + 0.2713681161403656 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange": [ + 424, + 608, + 587, + 789 + ], + "stove": [ + 741, + 400, + 996, + 992 + ], + "cardboard box": [ + 292, + 180, + 836, + 967 + ], + "hinge": [ + 54, + 521, + 190, + 639 + ], + "wooden countertop": [ + 2, + 45, + 265, + 547 + ] + } + } + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "push flap closed", + "subtask_reasoning": "The robot end-effector is in contact with the brown1fbox flap, which remains partially open. Approach and initial contact have been completed. The next action is to push the flap downward via sustained contact to close it, without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2139446884393692, + -0.028208041563630104, + 0.16255681216716766, + 2.9392848014831543, + -0.22359764575958252, + 0.3292050361633301 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The brown1fbox flap is closed, and the robot has completed contact-based pushing. The gripper shows no grasp activity, consistent with retreat after closure. The next action is to move the end-effector away from the box to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21803002059459686, + -0.04743205010890961, + 0.164091557264328, + 2.9178693294525146, + -0.2565939426422119, + 0.36342519521713257 + ], + "gripper_value": 1.0118417739868164 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the brown1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap closed" + }, + { + "id": 4, + "subtask": "release contact and retreat" + } + ], + "subtask_name": "release contact and retreat", + "subtask_reasoning": "The brown1fbox flap is closed, and the robot has completed contact-based pushing. The gripper shows no grasp activity, consistent with retreat after closure. The next action is to move the end-effector away from the box to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000907_ecot.json b/cot/chunk-0000/episode_0000907_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..adc17d5484954062810eff57ac7f2f803c7af831 --- /dev/null +++ b/cot/chunk-0000/episode_0000907_ecot.json @@ -0,0 +1,1186 @@ +{ + "task_name": "episode_0000907", + "episode_json": "json/chunk-0000/episode_0000907.json", + "video_path": "videos/chunk-0000/image_0/episode_0000907.mp4", + "instruction": "Take the yellow duck out of the drawer and put it on the lower middle side of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000907.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.7727623581886292, + "std": 0.33049115538597107, + "delta_total": 0.015320360660552979, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77276, std=0.33049, total_delta=0.01532). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 106, + 106, + 115, + 115, + 115 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 14 + ], + [ + 4, + 15, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on duck in drawer\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the yellow duck inside the drawer and begin closing the gripper to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift duck from drawer\", \"start\": 6, \"end\": 12, \"planning\": \"Securely grasp the yellow duck with closed gripper and lift it vertically out of the drawer while retracting upward.\"},\n {\"id\": 3, \"name\": \"transport duck over target table location\", \"start\": 13, \"end\": 14, \"planning\": \"Move the held duck horizontally toward the lower middle region of the table surface above the intended placement zone.\"},\n {\"id\": 4, \"name\": \"release duck onto table and retreat\", \"start\": 15, \"end\": 17, \"planning\": \"Open the gripper to release the duck onto the table at the target location, then slightly retract the end-effector upward and away.\"}\n ],\n \"global_plan\": \"Extract the yellow duck from the drawer by approaching, grasping, lifting, transporting to the lower middle table area, and releasing it there.\",\n \"notes\": \"Gripper closure is confirmed in Segment 1 (frames 0-5) with significant delta (-0.35437), supporting 'close gripper' wording. Segment 2 shows sustained low gripper value (~0.23) consistent with holding during lift and transport. Segment 4 shows clear opening (gripper rising to 1.00671) confirming release. All subtasks are contiguous and cover full trajectory [0,17].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on duck in drawer", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the yellow duck inside the drawer and begin closing the gripper to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift duck from drawer", + "start": 6, + "end": 12, + "planning": "Securely grasp the yellow duck with closed gripper and lift it vertically out of the drawer while retracting upward." + }, + { + "id": 3, + "name": "transport duck over target table location", + "start": 13, + "end": 14, + "planning": "Move the held duck horizontally toward the lower middle region of the table surface above the intended placement zone." + }, + { + "id": 4, + "name": "release duck onto table and retreat", + "start": 15, + "end": 17, + "planning": "Open the gripper to release the duck onto the table at the target location, then slightly retract the end-effector upward and away." + } + ], + "global_plan": "Extract the yellow duck from the drawer by approaching, grasping, lifting, transporting to the lower middle table area, and releasing it there.", + "notes": "Gripper closure is confirmed in Segment 1 (frames 0-5) with significant delta (-0.35437), supporting 'close gripper' wording. Segment 2 shows sustained low gripper value (~0.23) consistent with holding during lift and transport. Segment 4 shows clear opening (gripper rising to 1.00671) confirming release. All subtasks are contiguous and cover full trajectory [0,17]." + } + }, + "episode_goal": "Place the yellow duck on the lower middle side of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.37286555767059326, + -0.03762701153755188, + 0.04956301674246788, + -3.1329190731048584, + -0.043643753975629807, + 0.06635867804288864 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "approach and close gripper on duck in drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. No part of the subtask has been completed yet. The next action is to move the gripper closer to the duck and begin closing it to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 5 cm, move left 1 cm, move up 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.37162071466445923, + -0.03604085370898247, + 0.046314921230077744, + -3.13614559173584, + -0.030610721558332443, + 0.07544033974409103 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "approach and close gripper on duck in drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. No part of the subtask has been completed yet. The next action is to move the gripper closer to the duck and begin closing it to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 8 cm, move left 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3825407326221466, + -0.036915384232997894, + 0.04570746049284935, + -3.135218858718872, + -0.03389398753643036, + 0.07495646178722382 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "approach and close gripper on duck in drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. The subtask involves approaching the duck and closing the gripper to grasp it. The next action is to move the gripper closer to the duck and initiate closing to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 12 cm, move left 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816264867782593, + -0.03601691871881485, + 0.04065633565187454, + -3.1317272186279297, + -0.022049851715564728, + 0.07569251954555511 + ], + "gripper_value": 0.9879508018493652 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green bell pepper": [ + 185, + 496, + 337, + 728 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "approach and close gripper on duck in drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. The subtask involves approaching the duck and closing the gripper to grasp it. The next action is to move the gripper closer to the duck and initiate closing to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 15 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3818347156047821, + -0.035398632287979126, + 0.03999226540327072, + -3.128261089324951, + -0.025774041190743446, + 0.0734376534819603 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "approach and close gripper on duck in drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. The subtask involves approaching the duck and closing the gripper to grasp it. The next action is to move the gripper closer to the duck and initiate closing to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 15 cm, move up 4 cm, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3811717927455902, + -0.03406398743391037, + 0.037978362292051315, + -3.1206111907958984, + -0.028686510398983955, + 0.0703270211815834 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "approach and close gripper on duck in drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. The subtask involves approaching the duck and closing the gripper to grasp it. The next action is to move the gripper closer to the duck and initiate closing to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 15 cm, move up 4 cm, keep gripper closed; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37831494212150574, + -0.0336119681596756, + 0.03803158923983574, + -3.1216228008270264, + -0.03821132332086563, + 0.0829145684838295 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "grasp and lift duck from drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. The subtask involves approaching the duck and closing the gripper to grasp it. The next action is to move the gripper closer to the duck and initiate closing to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move up 4 cm, keep gripper closed; then move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36801400780677795, + -0.029684647917747498, + 0.04257703572511673, + -3.106610059738159, + -0.03433368355035782, + 0.10503191500902176 + ], + "gripper_value": 0.31575894355773926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "grasp and lift duck from drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. The subtask involves approaching the duck and closing the gripper to grasp it. The next action is to move the gripper closer to the duck and initiate closing to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move up 4 cm, keep gripper closed; then move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533669412136078, + -0.027859356254339218, + 0.0513971783220768, + -3.1041433811187744, + -0.00059106684057042, + 0.11723946034908295 + ], + "gripper_value": 0.254768431186676 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "grasp and lift duck from drawer", + "subtask_reasoning": "The robot is positioned near the open drawer containing the yellow duck, with the gripper currently open. The subtask involves approaching the duck and closing the gripper to grasp it. The next action is to move the gripper closer to the duck and initiate closing to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move up 3 cm, keep gripper closed; then move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3452793061733246, + -0.027686208486557007, + 0.08439435809850693, + -3.1261870861053467, + -0.04945937916636467, + 0.13790997862815857 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "grasp and lift duck from drawer", + "subtask_reasoning": "The gripper is positioned above the drawer where the yellow duck is located, with the gripper partially closed. The duck has not yet been grasped or lifted. The next action should involve fully closing the gripper to securely grasp the duck before lifting it from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move down 1 cm, keep gripper closed; then move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33099284768104553, + -0.026081014424562454, + 0.1095968708395958, + 3.13354229927063, + -0.10059409588575363, + 0.14574405550956726 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "grasp and lift duck from drawer", + "subtask_reasoning": "The gripper is positioned above the drawer where the yellow duck is located, with the gripper partially closed. The duck has not yet been grasped or lifted. The next action should involve fully closing the gripper to securely grasp the duck before lifting it from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed; then move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2963360846042633, + -0.021998243406414986, + 0.11643821001052856, + 3.14154052734375, + -0.09625916182994843, + 0.14687420427799225 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "grasp and lift duck from drawer", + "subtask_reasoning": "The gripper is positioned above the drawer where the yellow duck is located, with the gripper partially closed. The duck has not yet been grasped or lifted. The next action should involve fully closing the gripper to securely grasp the duck before lifting it from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed; then move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2560351490974426, + -0.020361747592687607, + 0.10154548287391663, + -3.1304733753204346, + -0.0407581627368927, + 0.14930814504623413 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "grasp and lift duck from drawer", + "subtask_reasoning": "The gripper is positioned above the drawer where the yellow duck is located, with the gripper partially closed. The duck has not yet been grasped or lifted. The next action should involve fully closing the gripper to securely grasp the duck before lifting it from the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.22721654176712036, + -0.029516691341996193, + 0.07807625085115433, + -3.135199546813965, + 0.03635408729314804, + 0.11975747346878052 + ], + "gripper_value": 0.23394888639450073 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue sponge": [ + 626, + 165, + 844, + 367 + ], + "green bell pepper": [ + 184, + 495, + 338, + 728 + ], + "black object": [ + 450, + 5, + 702, + 550 + ], + "cucumber": [ + 277, + 230, + 331, + 369 + ], + "wooden box": [ + 279, + 8, + 926, + 589 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "transport duck over target table location", + "subtask_reasoning": "The robot is currently holding the yellow duck above the table, having successfully lifted it from the drawer. The end-effector is positioned near the target lower middle area but requires slight adjustment to align precisely over the intended drop zone. The next action involves moving the duck to the exact lower middle position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2207588404417038, + -0.03330497071146965, + 0.06259948760271072, + -3.1233959197998047, + 0.07767874747514725, + 0.09817521274089813 + ], + "gripper_value": 0.27449509501457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "transport duck over target table location", + "subtask_reasoning": "The robot is currently holding the yellow duck above the table, having successfully lifted it from the drawer. The end-effector is positioned near the target lower middle area but requires slight adjustment to align precisely over the intended drop zone. The next action involves moving the duck to the exact lower middle position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.222561776638031, + -0.03357311338186264, + 0.05860361456871033, + -3.122904062271118, + 0.07756197452545166, + 0.10435084253549576 + ], + "gripper_value": 0.570969820022583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "release duck onto table and retreat", + "subtask_reasoning": "The robot is currently holding the yellow duck above the table, having successfully lifted it from the drawer. The end-effector is positioned near the target lower middle area but requires slight adjustment to align precisely over the intended drop zone. The next action involves moving the duck to the exact lower middle position before releasing it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22452688217163086, + -0.032527197152376175, + 0.061107344925403595, + -3.1120150089263916, + 0.07463786751031876, + 0.11185427755117416 + ], + "gripper_value": 0.8731510639190674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "release duck onto table and retreat", + "subtask_reasoning": "The yellow duck is currently held by the gripper just above the table surface, indicating the transport phase is complete. The gripper is open (value ~0.87), suggesting the duck has been released or is in the process of being released. The next action is to retreat the arm upward to ensure clear separation from the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.22489503026008606, + -0.032572321593761444, + 0.06273915618658066, + -3.1107451915740967, + 0.07906212657690048, + 0.11205977946519852 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow duck on the lower middle side of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on duck in drawer" + }, + { + "id": 2, + "subtask": "grasp and lift duck from drawer" + }, + { + "id": 3, + "subtask": "transport duck over target table location" + }, + { + "id": 4, + "subtask": "release duck onto table and retreat" + } + ], + "subtask_name": "release duck onto table and retreat", + "subtask_reasoning": "The yellow duck is currently held by the gripper just above the table surface, indicating the transport phase is complete. The gripper is open (value ~0.87), suggesting the duck has been released or is in the process of being released. The next action is to retreat the arm upward to ensure clear separation from the duck." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000908_ecot.json b/cot/chunk-0000/episode_0000908_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..efa234e0f0fd70c3902f2b99891197639687b4d3 --- /dev/null +++ b/cot/chunk-0000/episode_0000908_ecot.json @@ -0,0 +1,1290 @@ +{ + "task_name": "episode_0000908", + "episode_json": "json/chunk-0000/episode_0000908.json", + "video_path": "videos/chunk-0000/image_0/episode_0000908.mp4", + "instruction": "Lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000908.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.5562304854393005, + "std": 0.25489091873168945, + "delta_total": -0.05103486776351929, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.55623, std=0.25489, total_delta=-0.05103). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 118, + 118 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 12 + ], + [ + 3, + 13, + 17 + ], + [ + 4, + 18, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the vertical lever while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 9, \"end\": 12, \"planning\": \"Close gripper around the lever and establish firm contact for manipulation.\"},\n {\"id\": 3, \"name\": \"lever forward\", \"start\": 13, \"end\": 17, \"planning\": \"Pull the lever forward while maintaining grip to complete the lever action.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 18, \"end\": 19, \"planning\": \"Open gripper to release the lever and move end-effector away from the mechanism.\"}\n ],\n \"global_plan\": \"Approach the vertical lever, grasp it securely, pull it forward to actuate, then release and retreat.\",\n \"notes\": \"Segment 1 shows gripper closing at frame 9; Segment 2 has no further closing but maintains grip; Segment 3 continues motion with slight gripper adjustment; Segment 4 shows clear opening and retreat. All subtasks align with observed gripper behavior and motion phases.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the vertical lever while keeping gripper open." + }, + { + "id": 2, + "name": "grasp lever", + "start": 9, + "end": 12, + "planning": "Close gripper around the lever and establish firm contact for manipulation." + }, + { + "id": 3, + "name": "lever forward", + "start": 13, + "end": 17, + "planning": "Pull the lever forward while maintaining grip to complete the lever action." + }, + { + "id": 4, + "name": "release and retreat", + "start": 18, + "end": 19, + "planning": "Open gripper to release the lever and move end-effector away from the mechanism." + } + ], + "global_plan": "Approach the vertical lever, grasp it securely, pull it forward to actuate, then release and retreat.", + "notes": "Segment 1 shows gripper closing at frame 9; Segment 2 has no further closing but maintains grip; Segment 3 continues motion with slight gripper adjustment; Segment 4 shows clear opening and retreat. All subtasks align with observed gripper behavior and motion phases." + } + }, + "episode_goal": "Grasp the faucet lever and pull it forward to the vertical position.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3801807463169098, + -0.055962007492780685, + 0.08289315551519394, + -2.8460657596588135, + -0.04229864478111267, + 0.07145410031080246 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, with the faucet lever visible to the right. The gripper is open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 1 cm, tilt back 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3807923495769501, + -0.05629289522767067, + 0.06627999991178513, + -2.842122793197632, + -0.02946241945028305, + 0.07830692082643509 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "kitchen sink": [ + 204, + 349, + 825, + 945 + ], + "wooden backsplash": [ + 165, + 2, + 996, + 334 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, with the faucet lever visible to the right. The gripper is open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.38686603307724, + -0.05783665552735329, + 0.06759747117757797, + -2.8509905338287354, + -0.06894215196371078, + 0.08674132823944092 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, with the faucet lever visible to the right. The gripper is open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 3 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39474213123321533, + -0.06018725037574768, + 0.07230439782142639, + -2.8557581901550293, + -0.11293656378984451, + 0.08464499562978745 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, with the faucet lever visible to the right. The gripper is open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.40070661902427673, + -0.06350073218345642, + 0.07624458521604538, + -2.854621648788452, + -0.140033558011055, + 0.05829489231109619 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet as the gripper remains open and distant from the target. The next action is to lower the end-effector to align with the lever for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4108108580112457, + -0.06458833068609238, + 0.08010999113321304, + -2.851656913757324, + -0.15892192721366882, + 0.02984783425927162 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet as the gripper remains open and distant from the target. The next action is to lower the end-effector to align with the lever for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4187239706516266, + -0.06452010571956635, + 0.07991714775562286, + -2.837393045425415, + -0.16794006526470184, + 0.010087866336107254 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet as the gripper remains open and distant from the target. The next action is to lower the end-effector to align with the lever for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, close gripper; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4250251352787018, + -0.06193091347813606, + 0.07902741432189941, + -2.821150779724121, + -0.17126446962356567, + -0.0032002595253288746 + ], + "gripper_value": 1.0131081342697144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet as the gripper remains open and distant from the target. The next action is to lower the end-effector to align with the lever for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.42719385027885437, + -0.05902714282274246, + 0.07681963592767715, + -2.816405773162842, + -0.1705532819032669, + 0.013065206818282604 + ], + "gripper_value": 0.832595944404602 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet as the gripper remains open and distant from the target. The next action is to lower the end-effector to align with the lever for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.42707589268684387, + -0.0566159226000309, + 0.07502593100070953, + -2.8135769367218018, + -0.16618405282497406, + 0.02898486703634262 + ], + "gripper_value": 0.5354229807853699 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot is positioned above the sink, approaching the faucet lever from a high angle. No contact has been made yet as the gripper remains open and distant from the target. The next action is to lower the end-effector to align with the lever for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4252811074256897, + -0.057689204812049866, + 0.07358526438474655, + -2.8241097927093506, + -0.16264061629772186, + 0.04522053897380829 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and ready to grasp the lever. The next action should be to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41279903054237366, + -0.05766487121582031, + 0.07204018533229828, + -2.841869831085205, + -0.14217297732830048, + 0.08992265909910202 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and ready to grasp the lever. The next action should be to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.39554256200790405, + -0.05720279738306999, + 0.06615368276834488, + -2.8629753589630127, + -0.08759600669145584, + 0.10849399864673615 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "kitchen sink": [ + 205, + 350, + 826, + 944 + ], + "wooden backsplash": [ + 163, + 2, + 996, + 333 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and ready to grasp the lever. The next action should be to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3877493441104889, + -0.05644866079092026, + 0.06005341187119484, + -2.8839809894561768, + -0.04129916429519653, + 0.11115860193967819 + ], + "gripper_value": 0.4699908196926117 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lever forward", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and ready to grasp the lever. The next action should be to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3838042616844177, + -0.056908637285232544, + 0.052706003189086914, + -2.918484926223755, + -0.029913509264588356, + 0.11981479078531265 + ], + "gripper_value": 0.4568776488304138 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lever forward", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and ready to grasp the lever. The next action should be to close the gripper to securely grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3796449303627014, + -0.05619038641452789, + 0.04010535031557083, + -2.951472759246826, + -0.02540774829685688, + 0.12250296771526337 + ], + "gripper_value": 0.4568776488304138 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is closed and maintaining contact with the lever. The next action is to pull the lever forward to rotate it into the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3782230615615845, + -0.0566994734108448, + 0.031491968780756, + -2.9800729751586914, + -0.033328086137771606, + 0.12075069546699524 + ], + "gripper_value": 0.4568776488304138 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is closed and maintaining contact with the lever. The next action is to pull the lever forward to rotate it into the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3781552314758301, + -0.05548684298992157, + 0.02969350479543209, + -2.9847981929779053, + -0.03504656255245209, + 0.11745207011699677 + ], + "gripper_value": 0.4568776488304138 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "lever forward", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is closed and maintaining contact with the lever. The next action is to pull the lever forward to rotate it into the vertical position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767731189727783, + -0.05216212198138237, + 0.029663588851690292, + -2.962700366973877, + -0.030018609017133713, + 0.12763656675815582 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The faucet lever has been pulled to the vertical position and the gripper is now open, indicating release. The end-effector is positioned above the sink, slightly retracted from the lever. The next action is to retreat further away from the faucet to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36926600337028503, + -0.051888350397348404, + 0.032384444028139114, + -2.912548542022705, + -0.0047816140577197075, + 0.15077084302902222 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the faucet lever and pull it forward to the vertical position." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "lever forward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The faucet lever has been pulled to the vertical position and the gripper is now open, indicating release. The end-effector is positioned above the sink, slightly retracted from the lever. The next action is to retreat further away from the faucet to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000909_ecot.json b/cot/chunk-0000/episode_0000909_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d6e387f1fef4e7dc2520b2e44a2f8cf77b145b78 --- /dev/null +++ b/cot/chunk-0000/episode_0000909_ecot.json @@ -0,0 +1,2354 @@ +{ + "task_name": "episode_0000909", + "episode_json": "json/chunk-0000/episode_0000909.json", + "video_path": "videos/chunk-0000/image_0/episode_0000909.mp4", + "instruction": "Put the yellow object into the silver dish on the left lower burner of the cooker.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000909.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.951447069644928, + "std": 0.2733341157436371, + "delta_total": 0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95145, std=0.27333, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 13 + ], + [ + 3, + 14, + 23 + ], + [ + 4, + 24, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp yellow object\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector down to the yellow object on the right burner and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reposition over target\", \"start\": 9, \"end\": 13, \"planning\": \"Lift the grasped yellow object and begin moving it leftward toward the silver dish.\"},\n {\"id\": 3, \"name\": \"transport to silver dish location\", \"start\": 14, \"end\": 23, \"planning\": \"Continue transporting the held yellow object across the stove surface toward the left lower burner.\"},\n {\"id\": 4, \"name\": \"release into silver dish and retreat\", \"start\": 24, \"end\": 36, \"planning\": \"Lower the yellow object into the silver dish, release grip, and retract end-effector upward.\"}\n ],\n \"global_plan\": \"Grasp the yellow object from the right burner, lift and carry it leftward to the silver dish on the lower-left burner, then release it inside the dish and retreat.\",\n \"notes\": \"Gripper closure confirmed in Segment 1 (frames 0–8) with significant delta; lifting and carrying supported by motion and gripper state continuity; final release evidenced by gripper opening in Segment 4 and visual confirmation in Frame 36.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp yellow object", + "start": 0, + "end": 8, + "planning": "Move end-effector down to the yellow object on the right burner and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and reposition over target", + "start": 9, + "end": 13, + "planning": "Lift the grasped yellow object and begin moving it leftward toward the silver dish." + }, + { + "id": 3, + "name": "transport to silver dish location", + "start": 14, + "end": 23, + "planning": "Continue transporting the held yellow object across the stove surface toward the left lower burner." + }, + { + "id": 4, + "name": "release into silver dish and retreat", + "start": 24, + "end": 36, + "planning": "Lower the yellow object into the silver dish, release grip, and retract end-effector upward." + } + ], + "global_plan": "Grasp the yellow object from the right burner, lift and carry it leftward to the silver dish on the lower-left burner, then release it inside the dish and retreat.", + "notes": "Gripper closure confirmed in Segment 1 (frames 0–8) with significant delta; lifting and carrying supported by motion and gripper state continuity; final release evidenced by gripper opening in Segment 4 and visual confirmation in Frame 36." + } + }, + "episode_goal": "Place the yellow object into the silver dish on the left lower burner of the cooker.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3581183850765228, + -0.0026186800096184015, + 0.062092721462249756, + 3.091207504272461, + -0.13374623656272888, + -0.09110086411237717 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot is positioned above the stove with the yellow object visible on the right burner. The gripper is open and approaching the object, with no grasp completed yet. The next action is to lower the gripper and close it to securely grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35289695858955383, + -0.0041973041370511055, + 0.04854659363627434, + 3.0839614868164062, + -0.09287050366401672, + -0.09173642843961716 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot is positioned above the stove with the yellow object visible on the right burner. The gripper is open and approaching the object, with no grasp completed yet. The next action is to lower the gripper and close it to securely grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35508885979652405, + -0.01063605397939682, + 0.03818561136722565, + 3.09049129486084, + -0.10819390416145325, + -0.12169058620929718 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot is positioned above the stove with the yellow object visible on the right burner. The gripper is open and approaching the object, with no grasp completed yet. The next action is to lower the gripper and close it to securely grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35833990573883057, + -0.02015497162938118, + 0.027118127793073654, + 3.080164909362793, + -0.12090224027633667, + -0.1404859721660614 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot is positioned above the stove with the yellow object visible on the right burner. The gripper is open and approaching the object, with no grasp completed yet. The next action is to lower the gripper and close it to securely grasp the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618665337562561, + -0.03614756837487221, + 0.021360332146286964, + 3.0544700622558594, + -0.14228606224060059, + -0.16259127855300903 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the yellow object on the right burner, with the gripper open and ready. No prior actions have been completed. The next step is to close the gripper to grasp the yellow object, as segment-level evidence supports a grasp action and the image confirms proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.363709032535553, + -0.04487152770161629, + 0.010788952000439167, + 3.0305488109588623, + -0.14772047102451324, + -0.1633015125989914 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the yellow object on the right burner, with the gripper open and ready. No prior actions have been completed. The next step is to close the gripper to grasp the yellow object, as segment-level evidence supports a grasp action and the image confirms proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.363618403673172, + -0.06093451380729675, + -0.0012192430440336466, + 3.046386241912842, + -0.11062818020582199, + -0.20809876918792725 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the yellow object on the right burner, with the gripper open and ready. No prior actions have been completed. The next step is to close the gripper to grasp the yellow object, as segment-level evidence supports a grasp action and the image confirms proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643900156021118, + -0.05840441584587097, + -0.014018189162015915, + 3.089035987854004, + -0.03834182396531105, + -0.22329841554164886 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 173, + 413, + 359, + 605 + ], + "sink": [ + 709, + 634, + 993, + 992 + ], + "toy carrot": [ + 561, + 596, + 654, + 739 + ], + "stove": [ + 73, + 301, + 992, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the yellow object on the right burner, with the gripper open and ready. No prior actions have been completed. The next step is to close the gripper to grasp the yellow object, as segment-level evidence supports a grasp action and the image confirms proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36535680294036865, + -0.0572829432785511, + -0.021093467250466347, + 3.0934197902679443, + -0.0006079432787373662, + -0.25601449608802795 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "approach and grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the yellow object on the right burner, with the gripper open and ready. No prior actions have been completed. The next step is to close the gripper to grasp the yellow object, as segment-level evidence supports a grasp action and the image confirms proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691841661930084, + -0.05678752809762955, + -0.01604158617556095, + 3.103036642074585, + 0.0016447370871901512, + -0.27953508496284485 + ], + "gripper_value": 0.3228223919868469 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "lift and reposition over target", + "subtask_reasoning": "The robot arm is positioned above the yellow object on the right burner, with the gripper open and ready. No prior actions have been completed. The next step is to close the gripper to grasp the yellow object, as segment-level evidence supports a grasp action and the image confirms proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691754639148712, + -0.05914031341671944, + -0.015332129783928394, + 3.0852863788604736, + -0.004511649254709482, + -0.302280455827713 + ], + "gripper_value": 0.12351571768522263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 172, + 410, + 360, + 605 + ], + "toy carrot": [ + 575, + 628, + 667, + 718 + ], + "sink": [ + 712, + 634, + 993, + 992 + ], + "stove": [ + 73, + 300, + 992, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "lift and reposition over target", + "subtask_reasoning": "The robot arm is positioned above the yellow object on the right burner, with the gripper open and ready. No prior actions have been completed. The next step is to close the gripper to grasp the yellow object, as segment-level evidence supports a grasp action and the image confirms proximity and alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3700985014438629, + -0.0546659380197525, + -0.012883941642940044, + 3.0685338973999023, + -0.01512278150767088, + -0.3110886216163635 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "lift and reposition over target", + "subtask_reasoning": "The robot has grasped the yellow object from the right burner and is currently lifting it upward. The gripper is closed and holding the object securely. The next action is to reposition the object over the silver dish on the left lower burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3712635338306427, + -0.054764509201049805, + 0.017817197367548943, + 3.072927951812744, + -0.08785099536180496, + -0.3182334303855896 + ], + "gripper_value": 0.20143276453018188 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "lift and reposition over target", + "subtask_reasoning": "The robot has grasped the yellow object from the right burner and is currently lifting it upward. The gripper is closed and holding the object securely. The next action is to reposition the object over the silver dish on the left lower burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 3 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3691123127937317, + -0.056204479187726974, + 0.028232809156179428, + 3.059835433959961, + -0.0769382119178772, + -0.3182305097579956 + ], + "gripper_value": 0.438394159078598 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "lift and reposition over target", + "subtask_reasoning": "The robot has grasped the yellow object from the right burner and is currently lifting it upward. The gripper is closed and holding the object securely. The next action is to reposition the object over the silver dish on the left lower burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3892083466053009, + -0.05845307186245918, + 0.0461183562874794, + 3.0725300312042236, + -0.13556420803070068, + -0.32249313592910767 + ], + "gripper_value": 0.7408273816108704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot has grasped the yellow object from the right burner and is currently lifting it upward. The gripper is closed and holding the object securely. The next action is to reposition the object over the silver dish on the left lower burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.39898622035980225, + -0.055705726146698, + 0.024898746982216835, + 3.0799920558929443, + -0.07956748455762863, + -0.3031591475009918 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot has grasped the yellow object from the right burner and is currently lifting it upward. The gripper is closed and holding the object securely. The next action is to reposition the object over the silver dish on the left lower burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 8 cm, move up 2 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4064961373806, + -0.053476907312870026, + 0.012511511333286762, + 3.0748507976531982, + -0.058272723108530045, + -0.2902291417121887 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot has grasped the yellow object from the right burner and is currently lifting it upward. The gripper is closed and holding the object securely. The next action is to reposition the object over the silver dish on the left lower burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move left 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40621092915534973, + -0.05131736770272255, + -0.0018354331841692328, + 3.0750977993011475, + -0.009349830448627472, + -0.28906962275505066 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot has grasped the yellow object from the right burner and is currently lifting it upward. The gripper is closed and holding the object securely. The next action is to reposition the object over the silver dish on the left lower burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 5 cm, move left 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4056116044521332, + -0.04986431449651718, + -0.009800777770578861, + 3.0780105590820312, + 0.02086132951080799, + -0.2955825626850128 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4027511775493622, + -0.04881558194756508, + -0.018329860642552376, + 3.074993848800659, + 0.057507261633872986, + -0.30462637543678284 + ], + "gripper_value": 0.939095675945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 13 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4023210108280182, + -0.047922469675540924, + -0.018919015303254128, + 3.0785436630249023, + 0.0643569752573967, + -0.31088787317276 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4040195941925049, + -0.048759736120700836, + -0.016284652054309845, + 3.0782012939453125, + 0.06239362806081772, + -0.3190527558326721 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 14 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.40360215306282043, + -0.048310909420251846, + -0.015655534341931343, + 3.0767099857330322, + 0.061908021569252014, + -0.31990286707878113 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 14 cm, move down 5 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39747512340545654, + -0.03098473511636257, + 0.017029371112585068, + 3.105595588684082, + -0.02774822525680065, + -0.28930729627609253 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "transport to silver dish location", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 14 cm, move down 5 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.38258516788482666, + 0.020229235291481018, + 0.04817800223827362, + 3.1300852298736572, + -0.12859641015529633, + -0.17923925817012787 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 174, + 412, + 360, + 605 + ], + "toy carrot": [ + 528, + 498, + 616, + 593 + ], + "sink": [ + 710, + 635, + 993, + 992 + ], + "stove": [ + 73, + 303, + 992, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 13 cm, move down 5 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3597155511379242, + 0.06454892456531525, + 0.052060190588235855, + 3.1204934120178223, + -0.1839812695980072, + -0.07587721198797226 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3395596742630005, + 0.11324045062065125, + 0.05157540366053581, + 3.1129465103149414, + -0.22544683516025543, + 0.04512893408536911 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3358837366104126, + 0.13583199679851532, + 0.05176445469260216, + 3.1042518615722656, + -0.2630757987499237, + 0.11522228270769119 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue brush": [ + 601, + 396, + 703, + 519 + ], + "metal pot": [ + 173, + 424, + 356, + 604 + ], + "toy carrot": [ + 252, + 396, + 347, + 537 + ], + "stove": [ + 73, + 305, + 991, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34269294142723083, + 0.14428895711898804, + 0.049949318170547485, + 3.101214647293091, + -0.270755410194397, + 0.14181450009346008 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567022979259491, + 0.14955805242061615, + 0.0350089855492115, + 3.085829019546509, + -0.23913522064685822, + 0.15949586033821106 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object (carrot) above the right burner, having completed the grasp and lift phases. The gripper is closed, and the arm is positioned to begin moving the object leftward toward the silver dish on the lower-left burner. The next action is to transport the object horizontally to align it over the target dish." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move up 2 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3709624409675598, + 0.15374527871608734, + 0.02630210667848587, + 3.106175184249878, + -0.2134704291820526, + 0.14870837330818176 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot arm is positioned directly over the silver dish on the left lower burner, with the yellow object held in the gripper. The gripper is currently open, indicating the object has been released into the dish. The next action is to retreat the arm away from the cooker to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3738953471183777, + 0.15882407128810883, + 0.011584590189158916, + 3.1009697914123535, + -0.1639387160539627, + 0.1611901968717575 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot arm is positioned directly over the silver dish on the left lower burner, with the yellow object held in the gripper. The gripper is currently open, indicating the object has been released into the dish. The next action is to retreat the arm away from the cooker to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3683638274669647, + 0.16250385344028473, + -0.00249140034429729, + 3.0930140018463135, + -0.10603777319192886, + 0.17937955260276794 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot arm is positioned directly over the silver dish on the left lower burner, with the yellow object held in the gripper. The gripper is currently open, indicating the object has been released into the dish. The next action is to retreat the arm away from the cooker to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.36849740147590637, + 0.16226084530353546, + -0.002461792901158333, + 3.0896944999694824, + -0.10062024742364883, + 0.179822638630867 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot arm is positioned directly over the silver dish on the left lower burner, with the yellow object held in the gripper. The gripper is currently open, indicating the object has been released into the dish. The next action is to retreat the arm away from the cooker to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3701152205467224, + 0.1547318398952484, + -0.002264234237372875, + 3.0875113010406494, + -0.09123760461807251, + 0.14690770208835602 + ], + "gripper_value": 1.0149952173233032 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot arm is positioned directly over the silver dish on the left lower burner, with the yellow object held in the gripper. The gripper is currently open, indicating the object has been released into the dish. The next action is to retreat the arm away from the cooker to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 7 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808465898036957, + 0.1343105435371399, + 0.01999247446656227, + 3.1023828983306885, + -0.12999506294727325, + 0.04903741180896759 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot arm is positioned directly over the silver dish on the left lower burner, with the yellow object held in the gripper. The gripper is currently open, indicating the object has been released into the dish. The next action is to retreat the arm away from the cooker to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.39868462085723877, + 0.08404739946126938, + 0.05117131397128105, + 3.1219029426574707, + -0.19421857595443726, + -0.11078578233718872 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow object into the silver dish on the left lower burner of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp yellow object" + }, + { + "id": 2, + "subtask": "lift and reposition over target" + }, + { + "id": 3, + "subtask": "transport to silver dish location" + }, + { + "id": 4, + "subtask": "release into silver dish and retreat" + } + ], + "subtask_name": "release into silver dish and retreat", + "subtask_reasoning": "The robot arm is positioned directly over the silver dish on the left lower burner, with the yellow object held in the gripper. The gripper is currently open, indicating the object has been released into the dish. The next action is to retreat the arm away from the cooker to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000910_ecot.json b/cot/chunk-0000/episode_0000910_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f763e8058d6f0cea80c7f76430fb2710e64b912d --- /dev/null +++ b/cot/chunk-0000/episode_0000910_ecot.json @@ -0,0 +1,2632 @@ +{ + "task_name": "episode_0000910", + "episode_json": "json/chunk-0000/episode_0000910.json", + "video_path": "videos/chunk-0000/image_0/episode_0000910.mp4", + "instruction": "Place the pot behind the towel and spoon.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000910.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.9343553781509399, + "std": 0.4322306513786316, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93436, std=0.43223, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 29, + 29, + 29, + 29, + 29, + 29, + 29 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 9 + ], + [ + 4, + 10, + 19 + ], + [ + 5, + 20, + 28 + ], + [ + 6, + 29, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the pot on the yellow towel to prepare for grasping.\"},\n {\"id\": 2, \"name\": \"grasp pot\", \"start\": 5, \"end\": 9, \"planning\": \"Close the gripper around the pot handle while maintaining contact and alignment.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 10, \"end\": 19, \"planning\": \"Lift the pot slightly and move it backward over the towel toward the target placement zone.\"},\n {\"id\": 4, \"name\": \"place pot behind towel\", \"start\": 20, \"end\": 28, \"planning\": \"Lower the pot onto the table surface behind the towel and spoon, ensuring stable placement.\"},\n {\"id\": 5, \"name\": \"release gripper\", \"start\": 29, \"end\": 32, \"planning\": \"Open the gripper fully to release the pot after confirming it is stably placed.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 33, \"end\": 35, \"planning\": \"Move the end-effector away from the pot to complete the task and avoid interference.\"}\n ],\n \"global_plan\": \"Approach the pot, grasp it securely, lift and reposition it behind the towel and spoon, place it down gently, release the gripper, and retreat to finish the task.\",\n \"notes\": \"Segment 2 (frames 1-4) was merged into subtask 1 as it shows no gripper activity and serves as part of the approach phase. Segment 5 (frames 20-28) corresponds to placing the pot, supported by motion and gripper holding evidence. Segment 6 (frames 29-35) includes both release and retreat phases, split at frame 32 where gripper opens fully.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the pot on the yellow towel to prepare for grasping." + }, + { + "id": 2, + "name": "grasp pot", + "start": 5, + "end": 9, + "planning": "Close the gripper around the pot handle while maintaining contact and alignment." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 10, + "end": 19, + "planning": "Lift the pot slightly and move it backward over the towel toward the target placement zone." + }, + { + "id": 4, + "name": "place pot behind towel", + "start": 20, + "end": 28, + "planning": "Lower the pot onto the table surface behind the towel and spoon, ensuring stable placement." + }, + { + "id": 5, + "name": "release gripper", + "start": 29, + "end": 32, + "planning": "Open the gripper fully to release the pot after confirming it is stably placed." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 33, + "end": 35, + "planning": "Move the end-effector away from the pot to complete the task and avoid interference." + } + ], + "global_plan": "Approach the pot, grasp it securely, lift and reposition it behind the towel and spoon, place it down gently, release the gripper, and retreat to finish the task.", + "notes": "Segment 2 (frames 1-4) was merged into subtask 1 as it shows no gripper activity and serves as part of the approach phase. Segment 5 (frames 20-28) corresponds to placing the pot, supported by motion and gripper holding evidence. Segment 6 (frames 29-35) includes both release and retreat phases, split at frame 32 where gripper opens fully." + } + }, + "episode_goal": "Place the pot behind the towel and spoon.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22883306443691254, + 0.03050430677831173, + 0.11867912113666534, + -3.0460047721862793, + -0.15424248576164246, + -0.03827982768416405 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits on a yellow towel next to a spoon. No movement or grasping has occurred yet. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22683723270893097, + 0.029187042266130447, + 0.11344500631093979, + -3.0556528568267822, + -0.13872697949409485, + -0.048497896641492844 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the pot, which sits on a yellow towel next to a spoon. No movement or grasping has occurred yet. The next action should be to lower the gripper toward the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21850411593914032, + 0.0414874441921711, + 0.10106074810028076, + -3.0825719833374023, + -0.13241496682167053, + -0.08107419312000275 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "spoon": [ + 557, + 571, + 765, + 945 + ], + "red cup": [ + 145, + 359, + 233, + 454 + ], + "metal bowl": [ + 129, + 417, + 384, + 646 + ], + "yellow sponge": [ + 152, + 485, + 459, + 720 + ], + "wooden table": [ + 9, + 242, + 896, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the pot, which sits on a yellow towel next to a spoon. No movement or grasping has occurred yet in this subtask. The next action should involve moving the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2224305123090744, + 0.04643730819225311, + 0.08521880209445953, + -3.0792267322540283, + -0.11571183800697327, + -0.11859379708766937 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the pot, which sits on a yellow towel next to a spoon. No movement or grasping has occurred yet in this subtask. The next action should involve moving the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22555987536907196, + 0.05173508822917938, + 0.0675845742225647, + -3.0528790950775146, + -0.08456652611494064, + -0.16778482496738434 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the pot, which sits on a yellow towel next to a spoon. No movement or grasping has occurred yet in this subtask. The next action should involve moving the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2225361168384552, + 0.05677603557705879, + 0.05188804864883423, + -3.035958766937256, + -0.01039146538823843, + -0.17415063083171844 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the pot, which sits on a yellow towel next to a spoon. No movement or grasping has occurred yet in this subtask. The next action should involve moving the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2245338261127472, + 0.06116897240281105, + 0.0415629968047142, + -3.0407025814056396, + 0.011117695830762386, + -0.18193408846855164 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot arm is positioned above the pot, which sits on a yellow towel next to a spoon. No movement or grasping has occurred yet in this subtask. The next action should involve moving the arm closer to the pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, close gripper; then move forward 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2244396060705185, + 0.06747492402791977, + 0.03546573221683502, + -3.041379690170288, + 0.02110362984240055, + -0.1646953821182251 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing signal within the segment. The pot remains on the yellow towel, with the spoon nearby. The next action is to secure the grasp on the pot to prepare for lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 2 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22750721871852875, + 0.07484713941812515, + 0.03388943523168564, + -3.039372682571411, + 0.021677644923329353, + -0.15332143008708954 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing signal within the segment. The pot remains on the yellow towel, with the spoon nearby. The next action is to secure the grasp on the pot to prepare for lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move forward 3 cm, move right 4 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2285434603691101, + 0.07724212110042572, + 0.03545904904603958, + -3.030775547027588, + 0.023081758990883827, + -0.15204034745693207 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing signal within the segment. The pot remains on the yellow towel, with the spoon nearby. The next action is to secure the grasp on the pot to prepare for lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move right 6 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.22951658070087433, + 0.08157463371753693, + 0.03528209403157234, + -3.029881238937378, + 0.024347929283976555, + -0.13126203417778015 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing signal within the segment. The pot remains on the yellow towel, with the spoon nearby. The next action is to secure the grasp on the pot to prepare for lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23092231154441833, + 0.0822497010231018, + 0.03675098717212677, + -3.0281119346618652, + 0.025820856913924217, + -0.15134398639202118 + ], + "gripper_value": 0.16866940259933472 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing signal within the segment. The pot remains on the yellow towel, with the spoon nearby. The next action is to secure the grasp on the pot to prepare for lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23069235682487488, + 0.08209925889968872, + 0.043708350509405136, + -3.0240769386291504, + 0.01740388199687004, + -0.17472387850284576 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing signal within the segment. The pot remains on the yellow towel, with the spoon nearby. The next action is to secure the grasp on the pot to prepare for lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23036983609199524, + 0.07696579396724701, + 0.05035103112459183, + -3.0264480113983154, + 0.02210930362343788, + -0.1970490962266922 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached the pot and is now in contact with it, as indicated by the gripper closing signal within the segment. The pot remains on the yellow towel, with the spoon nearby. The next action is to secure the grasp on the pot to prepare for lifting and repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 9 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 5 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.23034201562404633, + 0.07222101092338562, + 0.06273184716701508, + -3.0122506618499756, + 0.032909855246543884, + -0.21537348628044128 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 8 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.242258682847023, + 0.06292732059955597, + 0.07842887192964554, + -2.947557210922241, + 0.049034278839826584, + -0.23841136693954468 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 158, + 462, + 462, + 716 + ], + "red cup": [ + 138, + 350, + 210, + 422 + ], + "metal bowl": [ + 138, + 346, + 337, + 567 + ], + "spoon": [ + 558, + 572, + 765, + 944 + ], + "wooden table": [ + 12, + 215, + 895, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.24984805285930634, + 0.05235826596617699, + 0.09285228699445724, + -2.899214029312134, + 0.048319537192583084, + -0.2603791356086731 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25228869915008545, + 0.04683222621679306, + 0.09541073441505432, + -2.878096580505371, + 0.05165797844529152, + -0.28035616874694824 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.25815489888191223, + 0.03801119700074196, + 0.0985332652926445, + -2.8674919605255127, + 0.030528493225574493, + -0.3194730877876282 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27434998750686646, + 0.01897887885570526, + 0.10726714879274368, + -2.8542234897613525, + -0.028561243787407875, + -0.38515639305114746 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29748794436454773, + -0.012226118706166744, + 0.09936219453811646, + -2.843217372894287, + -0.027757002040743828, + -0.48456722497940063 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 7 cm, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181542754173279, + -0.03402211144566536, + 0.0822046771645546, + -2.842588424682617, + -0.03492514789104462, + -0.5751567482948303 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 160, + 426, + 464, + 717 + ], + "metal bowl": [ + 399, + 229, + 589, + 455 + ], + "red cup": [ + 137, + 350, + 242, + 481 + ], + "spoon": [ + 559, + 572, + 765, + 945 + ], + "wooden table": [ + 13, + 183, + 896, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 6 cm, open gripper; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3356558680534363, + -0.04320444166660309, + 0.06824930012226105, + -2.8382608890533447, + -0.021498648449778557, + -0.5870082974433899 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, open gripper; then move back 3 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34582728147506714, + -0.04350968077778816, + 0.057744674384593964, + -2.8420419692993164, + 0.014354732818901539, + -0.6188900470733643 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The pot is currently grasped and lifted above the yellow towel, with the spoon visible to the right. The gripper is closed and holding the pot securely. The next action is to move the pot backward to position it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper; then move back 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3556270897388458, + -0.03458858281373978, + 0.05006268993020058, + -2.846376419067383, + 0.02240711636841297, + -0.6320870518684387 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The robot is holding the pot above the table, positioned near the towel and spoon. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot and place it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move back 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.354690283536911, + -0.033698614686727524, + 0.03978125751018524, + -2.8598415851593018, + 0.04736492037773132, + -0.6356374025344849 + ], + "gripper_value": 0.06742517650127411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The robot is holding the pot above the table, positioned near the towel and spoon. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot and place it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35533812642097473, + -0.036081526428461075, + 0.03207152336835861, + -2.8752806186676025, + 0.04793796315789223, + -0.6436772346496582 + ], + "gripper_value": 0.06712212413549423 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The robot is holding the pot above the table, positioned near the towel and spoon. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot and place it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3563140332698822, + -0.03813797980546951, + 0.03170297294855118, + -2.882220506668091, + 0.0348626933991909, + -0.6443207263946533 + ], + "gripper_value": 0.08962377160787582 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The robot is holding the pot above the table, positioned near the towel and spoon. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot and place it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35540133714675903, + -0.036867592483758926, + 0.027324620634317398, + -2.903454542160034, + 0.013000969775021076, + -0.6326673030853271 + ], + "gripper_value": 0.26876991987228394 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "place pot behind towel", + "subtask_reasoning": "The robot is holding the pot above the table, positioned near the towel and spoon. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot and place it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.352518230676651, + -0.033338624984025955, + 0.026333091780543327, + -2.905278205871582, + 0.01725895144045353, + -0.6124953031539917 + ], + "gripper_value": 0.5149424076080322 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release gripper", + "subtask_reasoning": "The robot is holding the pot above the table, positioned near the towel and spoon. The gripper is closed, indicating the pot is securely grasped. The next action is to lower the pot and place it behind the towel and spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34825509786605835, + -0.0281527116894722, + 0.052362650632858276, + -2.8664660453796387, + -0.015429120510816574, + -0.5660088062286377 + ], + "gripper_value": 0.8242669105529785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release gripper", + "subtask_reasoning": "The pot is positioned behind the towel and spoon on the wooden surface. The gripper is currently open (value 0.82), indicating the release action is underway or complete. The next step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.34043940901756287, + -0.03106214478611946, + 0.06683458387851715, + -2.879781484603882, + -0.08567556738853455, + -0.5476356744766235 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release gripper", + "subtask_reasoning": "The pot is positioned behind the towel and spoon on the wooden surface. The gripper is currently open (value 0.82), indicating the release action is underway or complete. The next step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.32714641094207764, + -0.01569448597729206, + 0.09098699688911438, + -2.9369523525238037, + -0.17395365238189697, + -0.42730575799942017 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release gripper", + "subtask_reasoning": "The pot is positioned behind the towel and spoon on the wooden surface. The gripper is currently open (value 0.82), indicating the release action is underway or complete. The next step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, keep gripper open; then move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31216341257095337, + 0.0066072712652385235, + 0.09690835326910019, + -2.956380605697632, + -0.14743581414222717, + -0.3374549448490143 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The pot is positioned behind the towel and spoon on the wooden surface. The gripper is currently open (value 0.82), indicating the release action is underway or complete. The next step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30715978145599365, + 0.044922228902578354, + 0.10192341357469559, + -2.967562437057495, + -0.15492229163646698, + -0.223039448261261 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 159, + 425, + 463, + 717 + ], + "metal bowl": [ + 452, + 287, + 727, + 508 + ], + "red cup": [ + 137, + 349, + 243, + 482 + ], + "spoon": [ + 558, + 572, + 765, + 945 + ], + "wooden table": [ + 9, + 183, + 896, + 990 + ] + } + } + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The pot has been successfully placed behind the towel and spoon, and the gripper is open and clear of the object. The robot is now retreating from the scene, moving away from the workspace to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 33, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3074249029159546, + 0.06922148913145065, + 0.10667572170495987, + -2.9802684783935547, + -0.17556828260421753, + -0.15889839828014374 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pot behind the towel and spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot behind towel" + }, + { + "id": 5, + "subtask": "release gripper" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The pot has been successfully placed behind the towel and spoon, and the gripper is open and clear of the object. The robot is now retreating from the scene, moving away from the workspace to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 33, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000911_ecot.json b/cot/chunk-0000/episode_0000911_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c7d5d83a84eabe0a4ac13efe4be5fed6a12a419a --- /dev/null +++ b/cot/chunk-0000/episode_0000911_ecot.json @@ -0,0 +1,2570 @@ +{ + "task_name": "episode_0000911", + "episode_json": "json/chunk-0000/episode_0000911.json", + "video_path": "videos/chunk-0000/image_0/episode_0000911.mp4", + "instruction": "Get the blue cloth inside the washing machine and put it in the basket.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000911.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9283555150032043, + "std": 0.4304771423339844, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92836, std=0.43048, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 13, + 13, + 13, + 13, + 213, + 213, + 213, + 213, + 213, + 231, + 231, + 231, + 231, + 231, + 231, + 231 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 21 + ], + [ + 3, + 22, + 25 + ], + [ + 4, + 26, + 30 + ], + [ + 5, + 31, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cloth in washer\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the blue cloth inside the washing machine while preparing to grasp.\"},\n {\"id\": 2, \"name\": \"grasp and extract blue cloth\", \"start\": 13, \"end\": 21, \"planning\": \"Close gripper on blue cloth and lift it out of the washing machine.\"},\n {\"id\": 3, \"name\": \"transport cloth over basket\", \"start\": 22, \"end\": 25, \"planning\": \"Carry the grasped blue cloth from washer area to position above the basket.\"},\n {\"id\": 4, \"name\": \"lower and release cloth into basket\", \"start\": 26, \"end\": 30, \"planning\": \"Descend into basket and open gripper to deposit the blue cloth.\"},\n {\"id\": 5, \"name\": \"retreat from basket\", \"start\": 31, \"end\": 37, \"planning\": \"Lift end-effector away from basket after releasing the cloth to complete placement.\"}\n ],\n \"global_plan\": \"Retrieve blue cloth from washing machine by approaching, grasping, extracting, transporting over basket, releasing into basket, and retreating.\",\n \"notes\": \"Segment 3 (frames 22-25) was merged with Segment 2’s motion phase for continuity; gripper remains closed during transport. All segments show meaningful gripper closure consistent with grasp/release actions as confirmed by image evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cloth in washer", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the blue cloth inside the washing machine while preparing to grasp." + }, + { + "id": 2, + "name": "grasp and extract blue cloth", + "start": 13, + "end": 21, + "planning": "Close gripper on blue cloth and lift it out of the washing machine." + }, + { + "id": 3, + "name": "transport cloth over basket", + "start": 22, + "end": 25, + "planning": "Carry the grasped blue cloth from washer area to position above the basket." + }, + { + "id": 4, + "name": "lower and release cloth into basket", + "start": 26, + "end": 30, + "planning": "Descend into basket and open gripper to deposit the blue cloth." + }, + { + "id": 5, + "name": "retreat from basket", + "start": 31, + "end": 37, + "planning": "Lift end-effector away from basket after releasing the cloth to complete placement." + } + ], + "global_plan": "Retrieve blue cloth from washing machine by approaching, grasping, extracting, transporting over basket, releasing into basket, and retreating.", + "notes": "Segment 3 (frames 22-25) was merged with Segment 2’s motion phase for continuity; gripper remains closed during transport. All segments show meaningful gripper closure consistent with grasp/release actions as confirmed by image evidence." + } + }, + "episode_goal": "Grasp the blue cloth inside the washing machine and place it into the basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30062246322631836, + 0.1111537516117096, + 0.06352339684963226, + -3.0151755809783936, + -0.17590048909187317, + 0.18532365560531616 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the blue cloth visible inside. The gripper is open and no contact has been made yet. The next action is to move the gripper closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29753002524375916, + 0.10913421958684921, + 0.05402781814336777, + -3.018604278564453, + -0.1409435123205185, + 0.1953502893447876 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the blue cloth visible inside. The gripper is open and no contact has been made yet. The next action is to move the gripper closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 9 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109387755393982, + 0.08016195148229599, + 0.05857476219534874, + -3.003849983215332, + -0.15654529631137848, + 0.18898464739322662 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the blue cloth visible inside. The gripper is open and no contact has been made yet. The next action is to move the gripper closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3187054693698883, + 0.06158711016178131, + 0.05951423943042755, + -3.025449752807617, + -0.18372772634029388, + 0.19084899127483368 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 573, + 617, + 860, + 995 + ], + "blue cloth": [ + 490, + 154, + 693, + 398 + ], + "green cloth": [ + 258, + 551, + 528, + 854 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the blue cloth visible inside. The gripper is open and no contact has been made yet. The next action is to move the gripper closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367539644241333, + 0.03955119848251343, + 0.07417133450508118, + -3.0679428577423096, + -0.2738201916217804, + 0.15550166368484497 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the blue cloth visible inside. The gripper is open and no contact has been made yet. The next action is to move the gripper closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3628356456756592, + 0.020902030169963837, + 0.08203927427530289, + -3.079927921295166, + -0.3623535931110382, + 0.12414757907390594 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned in front of the washing machine with the blue cloth visible inside. The gripper is open and no contact has been made yet. The next action is to move the gripper closer to the blue cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3853036165237427, + 0.018277017399668694, + 0.087046317756176, + -3.098430871963501, + -0.44085967540740967, + 0.12685082852840424 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 20 degrees, close gripper; then move back 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4040011763572693, + 0.02065974660217762, + 0.08008594810962677, + -3.0836639404296875, + -0.4470457434654236, + 0.1237153485417366 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, tilt forward 20 degrees, close gripper; then move back 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.41904714703559875, + 0.018757909536361694, + 0.05798708274960518, + -3.0924737453460693, + -0.3861921429634094, + 0.1202128455042839 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 8 cm, move right 1 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.42101389169692993, + 0.02202439494431019, + 0.045710574835538864, + -3.0586307048797607, + -0.3552132546901703, + 0.10146980732679367 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, close gripper; then move back 11 cm, move right 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4202623963356018, + 0.023305393755435944, + 0.04212271794676781, + -3.0328171253204346, + -0.314201295375824, + 0.09134583175182343 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 14 cm, move right 7 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.42209944128990173, + 0.020908264443278313, + 0.03666350618004799, + -2.9816598892211914, + -0.23186694085597992, + 0.0625319853425026 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 16 cm, move right 9 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4227997958660126, + 0.020947417244315147, + 0.03479861468076706, + -2.9808619022369385, + -0.18295849859714508, + 0.0824941098690033 + ], + "gripper_value": 0.6601285338401794 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "approach blue cloth in washer", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 17 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.42143529653549194, + 0.02157057635486126, + 0.03394552692770958, + -2.9805989265441895, + -0.17391501367092133, + 0.08614014834165573 + ], + "gripper_value": 0.36275482177734375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 17 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4171364903450012, + 0.022210314869880676, + 0.03236093744635582, + -2.9781880378723145, + -0.1777012199163437, + 0.0917954370379448 + ], + "gripper_value": 0.1649598330259323 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 11 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4089420437812805, + 0.023180140182375908, + 0.03746854513883591, + -2.9749650955200195, + -0.1910712867975235, + 0.09646996855735779 + ], + "gripper_value": 0.0867718756198883 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3936285674571991, + 0.026149198412895203, + 0.05418439581990242, + -2.967036485671997, + -0.19012558460235596, + 0.1566355675458908 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth inside the washing machine with the gripper open. No grasping has occurred yet as the subtask is still in the approach phase. The next action should involve lowering the gripper to make contact with the blue cloth for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 12 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.373354434967041, + 0.01970747858285904, + 0.08135100454092026, + -3.0282132625579834, + -0.20055262744426727, + 0.24565094709396362 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot has successfully approached and grasped the blue cloth inside the washing machine, as indicated by the gripper closure and cloth contact. The cloth is currently held within the drum, ready for extraction. The next action is to pull the cloth out of the washing machine toward the basket area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 11 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34337684512138367, + 0.013423392549157143, + 0.09121988713741302, + -3.0807480812072754, + -0.18250395357608795, + 0.30508342385292053 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 573, + 617, + 860, + 995 + ], + "washing machine": [ + 6, + 5, + 992, + 689 + ], + "blue cloth": [ + 411, + 224, + 623, + 430 + ], + "green cloth": [ + 258, + 551, + 527, + 855 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot has successfully approached and grasped the blue cloth inside the washing machine, as indicated by the gripper closure and cloth contact. The cloth is currently held within the drum, ready for extraction. The next action is to pull the cloth out of the washing machine toward the basket area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 10 cm, move down 4 cm, keep gripper closed; then move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3111867308616638, + -0.012144914828240871, + 0.08991996198892593, + -3.0960662364959717, + -0.1454170048236847, + 0.3092357814311981 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot has successfully approached and grasped the blue cloth inside the washing machine, as indicated by the gripper closure and cloth contact. The cloth is currently held within the drum, ready for extraction. The next action is to pull the cloth out of the washing machine toward the basket area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 8 cm, move down 4 cm, keep gripper closed; then move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.281394362449646, + -0.045818112790584564, + 0.08545941859483719, + -3.1220054626464844, + -0.14871500432491302, + 0.263808935880661 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot has successfully approached and grasped the blue cloth inside the washing machine, as indicated by the gripper closure and cloth contact. The cloth is currently held within the drum, ready for extraction. The next action is to pull the cloth out of the washing machine toward the basket area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 4 cm, keep gripper closed; then move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2662793695926666, + -0.07228472828865051, + 0.07131476700305939, + -3.1414051055908203, + -0.13932999968528748, + 0.26286306977272034 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "grasp and extract blue cloth", + "subtask_reasoning": "The robot has successfully approached and grasped the blue cloth inside the washing machine, as indicated by the gripper closure and cloth contact. The cloth is currently held within the drum, ready for extraction. The next action is to pull the cloth out of the washing machine toward the basket area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525356113910675, + -0.09146160632371902, + 0.04767698049545288, + 3.1263952255249023, + -0.1118028536438942, + 0.2486589252948761 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "washing machine": [ + 10, + 5, + 991, + 682 + ], + "blue cloth": [ + 508, + 592, + 752, + 829 + ], + "white basket": [ + 573, + 634, + 860, + 995 + ], + "green cloth": [ + 259, + 551, + 526, + 854 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "transport cloth over basket", + "subtask_reasoning": "The robot has successfully approached and grasped the blue cloth inside the washing machine, as indicated by the gripper closure and cloth contact. The cloth is currently held within the drum, ready for extraction. The next action is to pull the cloth out of the washing machine toward the basket area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move down 2 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25567981600761414, + -0.10244829207658768, + 0.031564343720674515, + 3.0918846130371094, + -0.09869331866502762, + 0.23563165962696075 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "transport cloth over basket", + "subtask_reasoning": "The robot is currently holding the blue cloth extracted from the washing machine and has moved it directly above the white basket. Since the gripper signal indicates a stable hold without closing, the cloth is being transported over the target location. The next logical step is to lower the cloth into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, keep gripper closed; then move down 2 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2564699649810791, + -0.11400210857391357, + 0.01152139063924551, + 3.1128954887390137, + -0.10551625490188599, + 0.19031070172786713 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "transport cloth over basket", + "subtask_reasoning": "The robot is currently holding the blue cloth extracted from the washing machine and has moved it directly above the white basket. Since the gripper signal indicates a stable hold without closing, the cloth is being transported over the target location. The next logical step is to lower the cloth into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper closed; then move down 2 cm, open gripper; then move forward 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.256253182888031, + -0.12458983063697815, + -0.0010176660725846887, + 3.1333653926849365, + -0.10508161783218384, + 0.17558087408542633 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "transport cloth over basket", + "subtask_reasoning": "The robot is currently holding the blue cloth extracted from the washing machine and has moved it directly above the white basket. Since the gripper signal indicates a stable hold without closing, the cloth is being transported over the target location. The next logical step is to lower the cloth into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move down 2 cm, open gripper; then move forward 1 cm, move left 2 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548779249191284, + -0.1287473440170288, + -0.019705085083842278, + -3.1087958812713623, + -0.07499372959136963, + 0.15730398893356323 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "lower and release cloth into basket", + "subtask_reasoning": "The robot is currently holding the blue cloth extracted from the washing machine and has moved it directly above the white basket. Since the gripper signal indicates a stable hold without closing, the cloth is being transported over the target location. The next logical step is to lower the cloth into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move forward 2 cm, move left 1 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2548690438270569, + -0.12894535064697266, + -0.03607863560318947, + -3.0939905643463135, + -0.05498315021395683, + 0.1287994384765625 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "lower and release cloth into basket", + "subtask_reasoning": "The robot is currently holding the blue cloth extracted from the washing machine and has moved it directly above the white basket. Since the gripper signal indicates a stable hold without closing, the cloth is being transported over the target location. The next logical step is to lower the cloth into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 3 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2571762204170227, + -0.13167759776115417, + -0.05064278095960617, + -3.090064764022827, + -0.0409955233335495, + 0.11223887652158737 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "lower and release cloth into basket", + "subtask_reasoning": "The blue cloth is currently held by the gripper and positioned directly above the basket. The gripper is in the process of opening to release the cloth, as indicated by the increasing gripper value in this segment. The next action is to fully open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25974082946777344, + -0.13525012135505676, + -0.05366303771734238, + -3.0922067165374756, + -0.04319607838988304, + 0.10589105635881424 + ], + "gripper_value": 0.11493317037820816 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "lower and release cloth into basket", + "subtask_reasoning": "The blue cloth is currently held by the gripper and positioned directly above the basket. The gripper is in the process of opening to release the cloth, as indicated by the increasing gripper value in this segment. The next action is to fully open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25782376527786255, + -0.1320117861032486, + -0.0508534237742424, + -3.062901496887207, + -0.021474000066518784, + 0.08121377229690552 + ], + "gripper_value": 0.3011319041252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "lower and release cloth into basket", + "subtask_reasoning": "The blue cloth is currently held by the gripper and positioned directly above the basket. The gripper is in the process of opening to release the cloth, as indicated by the increasing gripper value in this segment. The next action is to fully open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move forward 3 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567669749259949, + -0.13303063809871674, + -0.035640329122543335, + -3.0695292949676514, + -0.01528157852590084, + 0.07921593636274338 + ], + "gripper_value": 0.5928986668586731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "retreat from basket", + "subtask_reasoning": "The blue cloth is currently held by the gripper and positioned directly above the basket. The gripper is in the process of opening to release the cloth, as indicated by the increasing gripper value in this segment. The next action is to fully open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.257363498210907, + -0.13207051157951355, + -0.013865442015230656, + -3.101288318634033, + -0.05539683625102043, + 0.07468193024396896 + ], + "gripper_value": 0.8965065479278564 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "retreat from basket", + "subtask_reasoning": "The blue cloth is currently held by the gripper and positioned directly above the basket. The gripper is in the process of opening to release the cloth, as indicated by the increasing gripper value in this segment. The next action is to fully open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25815457105636597, + -0.12842564284801483, + -0.00048617395805194974, + -3.086371660232544, + -0.06456153839826584, + 0.05638426914811134 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "retreat from basket", + "subtask_reasoning": "The blue cloth is currently held by the gripper and positioned directly above the basket. The gripper is in the process of opening to release the cloth, as indicated by the increasing gripper value in this segment. The next action is to fully open the gripper to drop the cloth into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 8 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674267292022705, + -0.12633711099624634, + 0.028891270980238914, + -3.0722930431365967, + -0.12163719534873962, + 0.02347937971353531 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 572, + 615, + 854, + 995 + ], + "blue cloth": [ + 605, + 745, + 781, + 996 + ], + "washing machine": [ + 8, + 5, + 988, + 666 + ], + "green cloth": [ + 259, + 551, + 527, + 854 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "retreat from basket", + "subtask_reasoning": "The blue cloth has been successfully placed into the basket, and the gripper is open and positioned above it. The robot is now retreating from the basket area to complete the subtask. No further interaction with the cloth or basket is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.270342618227005, + -0.11662797629833221, + 0.050351567566394806, + -2.9847846031188965, + -0.11108749359846115, + -0.030671410262584686 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "retreat from basket", + "subtask_reasoning": "The blue cloth has been successfully placed into the basket, and the gripper is open and positioned above it. The robot is now retreating from the basket area to complete the subtask. No further interaction with the cloth or basket is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754499316215515, + -0.11833247542381287, + 0.07363861054182053, + -2.9789857864379883, + -0.09642084687948227, + -0.07712039351463318 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "retreat from basket", + "subtask_reasoning": "The blue cloth has been successfully placed into the basket, and the gripper is open and positioned above it. The robot is now retreating from the basket area to complete the subtask. No further interaction with the cloth or basket is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28975924849510193, + -0.10643422603607178, + 0.0843610167503357, + -3.001563787460327, + -0.10365983098745346, + -0.03608192503452301 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue cloth inside the washing machine and place it into the basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cloth in washer" + }, + { + "id": 2, + "subtask": "grasp and extract blue cloth" + }, + { + "id": 3, + "subtask": "transport cloth over basket" + }, + { + "id": 4, + "subtask": "lower and release cloth into basket" + }, + { + "id": 5, + "subtask": "retreat from basket" + } + ], + "subtask_name": "retreat from basket", + "subtask_reasoning": "The blue cloth has been successfully placed into the basket, and the gripper is open and positioned above it. The robot is now retreating from the basket area to complete the subtask. No further interaction with the cloth or basket is needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000916_ecot.json b/cot/chunk-0000/episode_0000916_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d204c9579db10453423e0a33f11f36f97f1344c5 --- /dev/null +++ b/cot/chunk-0000/episode_0000916_ecot.json @@ -0,0 +1,1268 @@ +{ + "task_name": "episode_0000916", + "episode_json": "json/chunk-0000/episode_0000916.json", + "video_path": "videos/chunk-0000/image_0/episode_0000916.mp4", + "instruction": "Put knife on cutting board.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000916.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.5244237184524536, + "std": 0.23714005947113037, + "delta_total": -0.32386815547943115, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.52442, std=0.23714, total_delta=-0.32387). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 118 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 9 + ], + [ + 3, + 10, + 17 + ], + [ + 4, + 18, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp knife\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector down to the knife near the sink and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reorient knife\", \"start\": 8, \"end\": 9, \"planning\": \"Lift the grasped knife slightly and adjust orientation for transport toward the cutting board.\"},\n {\"id\": 3, \"name\": \"transport knife to cutting board\", \"start\": 10, \"end\": 17, \"planning\": \"Carry the knife horizontally over the counter and position it above the green cutting board.\"},\n {\"id\": 4, \"name\": \"release knife on cutting board\", \"start\": 18, \"end\": 18, \"planning\": \"Open gripper to place the knife onto the cutting board and begin retreat motion.\"}\n ],\n \"global_plan\": \"Grasp the knife near the sink, lift and reorient it, carry it to the cutting board, and release it there.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.45) consistent with grasping; Segments 2–4 show no further closing, so actions are described as lifting, transporting, and releasing based on motion and context.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp knife", + "start": 0, + "end": 7, + "planning": "Move end-effector down to the knife near the sink and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and reorient knife", + "start": 8, + "end": 9, + "planning": "Lift the grasped knife slightly and adjust orientation for transport toward the cutting board." + }, + { + "id": 3, + "name": "transport knife to cutting board", + "start": 10, + "end": 17, + "planning": "Carry the knife horizontally over the counter and position it above the green cutting board." + }, + { + "id": 4, + "name": "release knife on cutting board", + "start": 18, + "end": 18, + "planning": "Open gripper to place the knife onto the cutting board and begin retreat motion." + } + ], + "global_plan": "Grasp the knife near the sink, lift and reorient it, carry it to the cutting board, and release it there.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.45) consistent with grasping; Segments 2–4 show no further closing, so actions are described as lifting, transporting, and releasing based on motion and context." + } + }, + "episode_goal": "Place the knife on the green cutting board.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28942030668258667, + -0.04518097639083862, + 0.05111978203058243, + 3.061307430267334, + -0.2592119574546814, + 1.0329203605651855 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink with the knife visible below. The gripper is open and approaching the knife, indicating the initial phase of the grasp subtask. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28549864888191223, + -0.04517107829451561, + 0.03704285994172096, + 3.0725905895233154, + -0.2479310780763626, + 1.058882474899292 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink with the knife visible below. The gripper is open and approaching the knife, indicating the initial phase of the grasp subtask. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842656373977661, + -0.0486706905066967, + 0.027812989428639412, + 3.0395119190216064, + -0.22466839849948883, + 1.0877584218978882 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink with the knife visible below. The gripper is open and approaching the knife, indicating the initial phase of the grasp subtask. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28371936082839966, + -0.04806176573038101, + 0.021762665361166, + 3.0147597789764404, + -0.21104805171489716, + 1.094899296760559 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the knife which is located on the counter edge. The gripper is currently open and has not yet made contact with the knife. The next action is to lower the arm and close the gripper to grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842473089694977, + -0.04793718084692955, + 0.015007463283836842, + 2.9969444274902344, + -0.20442335307598114, + 1.0928081274032593 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the knife which is located on the counter edge. The gripper is currently open and has not yet made contact with the knife. The next action is to lower the arm and close the gripper to grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.286661833524704, + -0.04538731276988983, + 0.009686397388577461, + 2.9821527004241943, + -0.18676364421844482, + 1.0920110940933228 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the knife which is located on the counter edge. The gripper is currently open and has not yet made contact with the knife. The next action is to lower the arm and close the gripper to grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28824976086616516, + -0.040723852813243866, + 0.002607924398034811, + 2.9745967388153076, + -0.1752660721540451, + 1.0987900495529175 + ], + "gripper_value": 0.8307508826255798 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 764, + 185, + 875, + 315 + ], + "toy pineapple": [ + 865, + 647, + 948, + 766 + ], + "cutting board": [ + 382, + 303, + 570, + 480 + ], + "toy carrot": [ + 903, + 709, + 991, + 827 + ], + "pot": [ + 59, + 152, + 293, + 345 + ], + "lid": [ + 91, + 157, + 254, + 284 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the knife which is located on the counter edge. The gripper is currently open and has not yet made contact with the knife. The next action is to lower the arm and close the gripper to grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28803226351737976, + -0.04049142822623253, + 0.0011595344403758645, + 2.972795009613037, + -0.1730136275291443, + 1.1171817779541016 + ], + "gripper_value": 0.5531353950500488 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "approach and grasp knife", + "subtask_reasoning": "The robot arm is positioned above the sink area, hovering near the knife which is located on the counter edge. The gripper is currently open and has not yet made contact with the knife. The next action is to lower the arm and close the gripper to grasp the knife handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 6 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826981544494629, + -0.036258142441511154, + 0.0012146594235673547, + 3.023132562637329, + -0.17986173927783966, + 1.1131235361099243 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "lift and reorient knife", + "subtask_reasoning": "The robot has successfully grasped the knife near the sink and is now lifting it upward while reorienting its pose. The gripper remains closed with no significant change in this segment, indicating stable hold during lift. Next, the robot should continue moving the knife toward the green cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28592830896377563, + -0.029720110818743706, + 0.021013310179114342, + 3.0763354301452637, + -0.22169439494609833, + 1.0601708889007568 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "lift and reorient knife", + "subtask_reasoning": "The robot has successfully grasped the knife near the sink and is now lifting it upward while reorienting its pose. The gripper remains closed with no significant change in this segment, indicating stable hold during lift. Next, the robot should continue moving the knife toward the green cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move forward 7 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30541443824768066, + -0.014511692337691784, + 0.05038648098707199, + 3.07480788230896, + -0.29090145230293274, + 0.992313802242279 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 764, + 184, + 875, + 315 + ], + "toy carrot": [ + 903, + 709, + 991, + 828 + ], + "cutting board": [ + 382, + 302, + 532, + 468 + ], + "toy pineapple": [ + 865, + 648, + 948, + 766 + ] + } + } + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot has successfully grasped the knife near the sink and is now lifting it upward while reorienting its pose. The gripper remains closed with no significant change in this segment, indicating stable hold during lift. Next, the robot should continue moving the knife toward the green cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3306410312652588, + 0.0017963155405595899, + 0.0644790455698967, + 3.0361502170562744, + -0.3422505557537079, + 0.9440983533859253 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot has successfully grasped the knife near the sink and is now lifting it upward while reorienting its pose. The gripper remains closed with no significant change in this segment, indicating stable hold during lift. Next, the robot should continue moving the knife toward the green cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3570324182510376, + 0.01831670291721821, + 0.06174599006772041, + 3.0115413665771484, + -0.3782837986946106, + 0.8930931091308594 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot has successfully grasped the knife near the sink and is now lifting it upward while reorienting its pose. The gripper remains closed with no significant change in this segment, indicating stable hold during lift. Next, the robot should continue moving the knife toward the green cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3767276108264923, + 0.02320735901594162, + 0.05326380953192711, + 2.9913578033447266, + -0.4008912444114685, + 0.8455855846405029 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is holding the knife above the green cutting board, having completed the approach and lift phases. The gripper remains closed with no change in this segment, indicating the knife is being transported but not yet released. The next action is to lower the knife onto the cutting board and open the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.38381749391555786, + 0.029464030638337135, + 0.0479203425347805, + 2.989098072052002, + -0.41397422552108765, + 0.8167227506637573 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is holding the knife above the green cutting board, having completed the approach and lift phases. The gripper remains closed with no change in this segment, indicating the knife is being transported but not yet released. The next action is to lower the knife onto the cutting board and open the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38517269492149353, + 0.032676711678504944, + 0.04810936376452446, + 2.9952685832977295, + -0.42675259709358215, + 0.79554283618927 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is holding the knife above the green cutting board, having completed the approach and lift phases. The gripper remains closed with no change in this segment, indicating the knife is being transported but not yet released. The next action is to lower the knife onto the cutting board and open the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38294315338134766, + 0.043552178889513016, + 0.04724123328924179, + 3.0138776302337646, + -0.4353214502334595, + 0.7865387201309204 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is holding the knife above the green cutting board, having completed the approach and lift phases. The gripper remains closed with no change in this segment, indicating the knife is being transported but not yet released. The next action is to lower the knife onto the cutting board and open the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38112103939056396, + 0.04972007870674133, + 0.04450713470578194, + 3.0189080238342285, + -0.4355833828449249, + 0.773664653301239 + ], + "gripper_value": 0.48228755593299866 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "transport knife to cutting board", + "subtask_reasoning": "The robot is holding the knife above the green cutting board, having completed the approach and lift phases. The gripper remains closed with no change in this segment, indicating the knife is being transported but not yet released. The next action is to lower the knife onto the cutting board and open the gripper to place it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.378851056098938, + 0.05080529674887657, + 0.04130316525697708, + 3.006220579147339, + -0.4271269142627716, + 0.7684774398803711 + ], + "gripper_value": 0.6821943521499634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the knife on the green cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp knife" + }, + { + "id": 2, + "subtask": "lift and reorient knife" + }, + { + "id": 3, + "subtask": "transport knife to cutting board" + }, + { + "id": 4, + "subtask": "release knife on cutting board" + } + ], + "subtask_name": "release knife on cutting board", + "subtask_reasoning": "The knife is currently held above the green cutting board, aligned for placement. The gripper remains open and no closing motion is detected in this segment, indicating the release action has not yet occurred. The next step is to lower the knife slightly and open the gripper to deposit it onto the board." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000920_ecot.json b/cot/chunk-0000/episode_0000920_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..181fb3e020ec556f75fb99356608351f3d0ddcd3 --- /dev/null +++ b/cot/chunk-0000/episode_0000920_ecot.json @@ -0,0 +1,2360 @@ +{ + "task_name": "episode_0000920", + "episode_json": "json/chunk-0000/episode_0000920.json", + "video_path": "videos/chunk-0000/image_0/episode_0000920.mp4", + "instruction": "Take sushi out of pot cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000920.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.40385353565216064, + "std": 0.1787768006324768, + "delta_total": -0.30455631017684937, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40385, std=0.17878, total_delta=-0.30456). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 400, + 400, + 400, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 9 + ], + [ + 3, + 10, + 13 + ], + [ + 4, + 14, + 24 + ], + [ + 5, + 25, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sushi container\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the orange sushi container inside the cardboard fence while maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"align above sushi\", \"start\": 7, \"end\": 13, \"planning\": \"Fine-tune position and orientation to center gripper over the sushi piece without closing fingers yet.\"},\n {\"id\": 3, \"name\": \"grasp sushi\", \"start\": 14, \"end\": 24, \"planning\": \"Close gripper around sushi piece as confirmed by decreasing gripper value from 0.99 to 0.61, securing it for extraction.\"},\n {\"id\": 4, \"name\": \"lift and extract sushi\", \"start\": 25, \"end\": 30, \"planning\": \"Raise gripper with sushi clear of container and begin moving laterally out of the cardboard fence boundary.\"},\n {\"id\": 5, \"name\": \"retreat with sushi\", \"start\": 31, \"end\": 34, \"planning\": \"Continue moving away from the pot area while holding sushi securely, completing removal from confined space.\"}\n ],\n \"global_plan\": \"Extract sushi from within the cardboard-fenced pot area by approaching, aligning, grasping, lifting, and retreating with the object.\",\n \"notes\": \"Gripper closure only occurs in segments 4 and 5; segments 1–3 show no meaningful closing and are described as approach/alignment phases. Frame coverage is contiguous and complete from 0 to 34.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sushi container", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the orange sushi container inside the cardboard fence while maintaining open gripper." + }, + { + "id": 2, + "name": "align above sushi", + "start": 7, + "end": 13, + "planning": "Fine-tune position and orientation to center gripper over the sushi piece without closing fingers yet." + }, + { + "id": 3, + "name": "grasp sushi", + "start": 14, + "end": 24, + "planning": "Close gripper around sushi piece as confirmed by decreasing gripper value from 0.99 to 0.61, securing it for extraction." + }, + { + "id": 4, + "name": "lift and extract sushi", + "start": 25, + "end": 30, + "planning": "Raise gripper with sushi clear of container and begin moving laterally out of the cardboard fence boundary." + }, + { + "id": 5, + "name": "retreat with sushi", + "start": 31, + "end": 34, + "planning": "Continue moving away from the pot area while holding sushi securely, completing removal from confined space." + } + ], + "global_plan": "Extract sushi from within the cardboard-fenced pot area by approaching, aligning, grasping, lifting, and retreating with the object.", + "notes": "Gripper closure only occurs in segments 4 and 5; segments 1–3 show no meaningful closing and are described as approach/alignment phases. Frame coverage is contiguous and complete from 0 to 34." + } + }, + "episode_goal": "Pick up the sushi from the orange bowl inside the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28143683075904846, + 0.13012412190437317, + 0.08060694485902786, + 3.1099472045898438, + 0.18334224820137024, + 0.729878306388855 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "approach sushi container", + "subtask_reasoning": "The robot is positioned above the cardboard fence containing an orange bowl with sushi. No movement or grasping has occurred yet. The next action should be to lower and move the gripper toward the sushi container inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move right 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2766977846622467, + 0.127748042345047, + 0.06931871175765991, + 3.1217947006225586, + 0.21470609307289124, + 0.7466307878494263 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "approach sushi container", + "subtask_reasoning": "The robot is positioned above the cardboard fence containing an orange bowl with sushi. No movement or grasping has occurred yet. The next action should be to lower and move the gripper toward the sushi container inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move right 5 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27071413397789, + 0.12128381431102753, + 0.06787379086017609, + -3.1401124000549316, + 0.14400145411491394, + 0.8600261807441711 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "approach sushi container", + "subtask_reasoning": "The robot is positioned above the cardboard fence containing an orange bowl with sushi. No movement or grasping has occurred yet. The next action should be to lower and move the gripper toward the sushi container inside the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26891666650772095, + 0.1127556636929512, + 0.07520987838506699, + 3.1318929195404053, + 0.12184043973684311, + 0.8900843858718872 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "approach sushi container", + "subtask_reasoning": "The robot is positioned above the cardboard-fenced area containing an orange bowl with sushi. No prior actions have been completed. The gripper remains open and stationary, indicating the robot is preparing to move toward the sushi container. The next action should involve translating the end-effector closer to the sushi for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 9 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2638762891292572, + 0.0979972556233406, + 0.09115643054246902, + 3.103299856185913, + 0.1175655648112297, + 0.91304612159729 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "approach sushi container", + "subtask_reasoning": "The robot is positioned above the cardboard-fenced area containing an orange bowl with sushi. No prior actions have been completed. The gripper remains open and stationary, indicating the robot is preparing to move toward the sushi container. The next action should involve translating the end-effector closer to the sushi for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25708845257759094, + 0.07280738651752472, + 0.10012657195329666, + 3.1171443462371826, + 0.1303224265575409, + 0.9880517721176147 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "approach sushi container", + "subtask_reasoning": "The robot is positioned above the cardboard-fenced area containing an orange bowl with sushi. No prior actions have been completed. The gripper remains open and stationary, indicating the robot is preparing to move toward the sushi container. The next action should involve translating the end-effector closer to the sushi for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, keep gripper open; then move back 1 cm, move right 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2490328997373581, + 0.047349169850349426, + 0.1066775843501091, + 3.134596824645996, + 0.11700593680143356, + 1.0220470428466797 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow apple": [ + 318, + 642, + 433, + 777 + ], + "wooden table": [ + 6, + 203, + 807, + 984 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "approach sushi container", + "subtask_reasoning": "The robot is positioned above the cardboard-fenced area containing an orange bowl with sushi. No prior actions have been completed. The gripper remains open and stationary, indicating the robot is preparing to move toward the sushi container. The next action should involve translating the end-effector closer to the sushi for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23730243742465973, + 0.02409910410642624, + 0.09957994520664215, + -3.1080665588378906, + 0.09203436225652695, + 1.060660719871521 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "align above sushi", + "subtask_reasoning": "The robot is positioned above the cardboard-fenced area containing an orange bowl with sushi. No prior actions have been completed. The gripper remains open and stationary, indicating the robot is preparing to move toward the sushi container. The next action should involve translating the end-effector closer to the sushi for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2277740240097046, + 0.001283143414184451, + 0.09243759512901306, + -3.1094393730163574, + 0.05028628557920456, + 1.1100727319717407 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "align above sushi", + "subtask_reasoning": "The robot is positioned above the cardboard-fenced area containing an orange bowl with sushi. No prior actions have been completed. The gripper remains open and stationary, indicating the robot is preparing to move toward the sushi container. The next action should involve translating the end-effector closer to the sushi for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2207912802696228, + -0.014972588047385216, + 0.0796435996890068, + -3.124027967453003, + 0.02589944377541542, + 1.1314908266067505 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow apple": [ + 317, + 642, + 433, + 775 + ], + "wooden table": [ + 5, + 159, + 809, + 986 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "align above sushi", + "subtask_reasoning": "The robot is positioned above the cardboard-fenced area containing an orange bowl with sushi. No prior actions have been completed. The gripper remains open and stationary, indicating the robot is preparing to move toward the sushi container. The next action should involve translating the end-effector closer to the sushi for alignment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21903468668460846, + -0.02338487282395363, + 0.0688914880156517, + 3.124282121658325, + 0.013005645014345646, + 1.159264326095581 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "align above sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22440020740032196, + -0.02961706928908825, + 0.06064581125974655, + 3.067803382873535, + 0.01345627848058939, + 1.202998399734497 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "align above sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.22752800583839417, + -0.03343811258673668, + 0.05399837717413902, + 3.083775520324707, + 0.05502057075500488, + 1.2327609062194824 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "align above sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.23079922795295715, + -0.03541376814246178, + 0.05007997155189514, + 3.110769510269165, + 0.07252635806798935, + 1.2561894655227661 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "align above sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2320033758878708, + -0.03913727402687073, + 0.040587615221738815, + -3.1384236812591553, + 0.08391015976667404, + 1.2722465991973877 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.23327217996120453, + -0.04056715592741966, + 0.03761092945933342, + -3.1396307945251465, + 0.08002932369709015, + 1.277437686920166 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2344701737165451, + -0.04143549129366875, + 0.033066436648368835, + -3.135826826095581, + 0.06863068044185638, + 1.2835806608200073 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2359801083803177, + -0.04168325290083885, + 0.029252754524350166, + -3.1359548568725586, + 0.057032227516174316, + 1.2860181331634521 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23630812764167786, + -0.04187601059675217, + 0.02433537133038044, + -3.127351760864258, + 0.04511250928044319, + 1.2785109281539917 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl containing sushi within the cardboard fence. The gripper remains open with no closing evidence, indicating alignment is ongoing. The next action is to fine-tune the end-effector position directly over the sushi before initiating a grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, close gripper; then move forward 1 cm, move left 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2375037968158722, + -0.04201227053999901, + 0.02026100642979145, + -3.128796100616455, + 0.03526460379362106, + 1.269008994102478 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, close gripper; then move forward 2 cm, move left 7 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23741452395915985, + -0.0420188270509243, + 0.017821364104747772, + -3.127678632736206, + 0.028540553525090218, + 1.2612473964691162 + ], + "gripper_value": 0.9858682155609131 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper closed; then move forward 3 cm, move left 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23615503311157227, + -0.041277527809143066, + 0.016748610883951187, + -3.125654697418213, + 0.02550569921731949, + 1.2580989599227905 + ], + "gripper_value": 0.9214844703674316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move forward 5 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23609143495559692, + -0.04163973778486252, + 0.016748610883951187, + -3.1258902549743652, + 0.025651302188634872, + 1.2473591566085815 + ], + "gripper_value": 0.648074209690094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move forward 5 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2341131716966629, + -0.04187646880745888, + 0.016821514815092087, + -3.1149890422821045, + 0.033417247235774994, + 1.24524986743927 + ], + "gripper_value": 0.5889025926589966 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper closed; then move forward 5 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2325304001569748, + -0.04088108241558075, + 0.02392231673002243, + -3.108386278152466, + 0.05329879745841026, + 1.2543007135391235 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "grasp sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed; then move forward 5 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23818987607955933, + -0.03831205144524574, + 0.05199705809354782, + 3.111415147781372, + 0.07264088839292526, + 1.2741886377334595 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow apple": [ + 317, + 643, + 433, + 775 + ], + "wooden table": [ + 4, + 158, + 810, + 986 + ], + "orange bowl": [ + 429, + 589, + 650, + 824 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "lift and extract sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2413836121559143, + -0.03175364062190056, + 0.07608962804079056, + 3.0737032890319824, + 0.1090570017695427, + 1.302403211593628 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "lift and extract sushi", + "subtask_reasoning": "The robot end-effector is positioned directly above the sushi in the orange bowl, with the gripper open and ready. The approach and alignment phases are complete. The next action is to close the gripper to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 9 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24500486254692078, + -0.016970599070191383, + 0.09360255300998688, + 3.04207181930542, + 0.10720258951187134, + 1.3259572982788086 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow apple": [ + 318, + 643, + 433, + 776 + ], + "orange bowl": [ + 426, + 535, + 650, + 828 + ], + "wooden table": [ + 5, + 159, + 808, + 986 + ], + "white spoon": [ + 480, + 394, + 609, + 582 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "lift and extract sushi", + "subtask_reasoning": "The robot end-effector is positioned above the orange bowl containing the sushi, with the gripper open and no closing motion detected in this segment. The sushi remains inside the bowl, indicating that grasping has not yet occurred. The next action should involve lowering the gripper to make contact with the sushi before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 8 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516479194164276, + 0.00431860750541091, + 0.09718422591686249, + 3.0386946201324463, + 0.07879483699798584, + 1.3667389154434204 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "lift and extract sushi", + "subtask_reasoning": "The robot end-effector is positioned above the orange bowl containing the sushi, with the gripper open and no closing motion detected in this segment. The sushi remains inside the bowl, indicating that grasping has not yet occurred. The next action should involve lowering the gripper to make contact with the sushi before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 6 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25973451137542725, + 0.027454037219285965, + 0.08775924891233444, + 3.0790820121765137, + 0.05652550607919693, + 1.3777152299880981 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "lift and extract sushi", + "subtask_reasoning": "The robot end-effector is positioned above the orange bowl containing the sushi, with the gripper open and no closing motion detected in this segment. The sushi remains inside the bowl, indicating that grasping has not yet occurred. The next action should involve lowering the gripper to make contact with the sushi before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27242884039878845, + 0.04842141270637512, + 0.06493932008743286, + 3.08807635307312, + 0.006462027784436941, + 1.399169921875 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "lift and extract sushi", + "subtask_reasoning": "The robot end-effector is positioned above the orange bowl containing the sushi, with the gripper open and no closing motion detected in this segment. The sushi remains inside the bowl, indicating that grasping has not yet occurred. The next action should involve lowering the gripper to make contact with the sushi before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2857837975025177, + 0.06212420016527176, + 0.03341367095708847, + 3.0954067707061768, + -0.056424617767333984, + 1.4335813522338867 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "retreat with sushi", + "subtask_reasoning": "The robot end-effector is positioned above the orange bowl containing the sushi, with the gripper open and no closing motion detected in this segment. The sushi remains inside the bowl, indicating that grasping has not yet occurred. The next action should involve lowering the gripper to make contact with the sushi before attempting to lift it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29899144172668457, + 0.07471046596765518, + 0.0178077295422554, + 3.100168466567993, + -0.07296239584684372, + 1.4575762748718262 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "retreat with sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl inside the cardboard fence, with the gripper slightly open (0.61493), indicating no firm grasp yet. The subtask 'retreat with sushi' cannot proceed until the sushi is securely grasped; thus, the immediate next action should be to close the gripper to grasp the sushi before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30764269828796387, + 0.08295559138059616, + 0.01373851578682661, + 3.093369245529175, + -0.10698776692152023, + 1.4625639915466309 + ], + "gripper_value": 0.6149309277534485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "retreat with sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl inside the cardboard fence, with the gripper slightly open (0.61493), indicating no firm grasp yet. The subtask 'retreat with sushi' cannot proceed until the sushi is securely grasped; thus, the immediate next action should be to close the gripper to grasp the sushi before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30770933628082275, + 0.08462457358837128, + 0.01194027904421091, + 3.096468448638916, + -0.10688906908035278, + 1.4672002792358398 + ], + "gripper_value": 0.6881998181343079 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the sushi from the orange bowl inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sushi container" + }, + { + "id": 2, + "subtask": "align above sushi" + }, + { + "id": 3, + "subtask": "grasp sushi" + }, + { + "id": 4, + "subtask": "lift and extract sushi" + }, + { + "id": 5, + "subtask": "retreat with sushi" + } + ], + "subtask_name": "retreat with sushi", + "subtask_reasoning": "The robot is positioned above the orange bowl inside the cardboard fence, with the gripper slightly open (0.61493), indicating no firm grasp yet. The subtask 'retreat with sushi' cannot proceed until the sushi is securely grasped; thus, the immediate next action should be to close the gripper to grasp the sushi before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000922_ecot.json b/cot/chunk-0000/episode_0000922_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9c0c35dc52948151e7811304b2f3d4c0a384ac5e --- /dev/null +++ b/cot/chunk-0000/episode_0000922_ecot.json @@ -0,0 +1,2425 @@ +{ + "task_name": "episode_0000922", + "episode_json": "json/chunk-0000/episode_0000922.json", + "video_path": "videos/chunk-0000/image_0/episode_0000922.mp4", + "instruction": "Take lid off pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000922.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.6089544296264648, + "std": 0.2778280973434448, + "delta_total": -0.0019985437393188477, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60895, std=0.27783, total_delta=-0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 113, + 113, + 113, + 113, + 113, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 226, + 226, + 226, + 226, + 226, + 326, + 326, + 326, + 326 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 17 + ], + [ + 4, + 18, + 25 + ], + [ + 5, + 26, + 30 + ], + [ + 6, + 31, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector toward the pot lid without grasping, as gripper remains fully open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 13, \"end\": 17, \"planning\": \"Close gripper around lid handle; segment shows meaningful closing and images confirm contact and grip on lid.\"},\n {\"id\": 3, \"name\": \"lift and move lid\", \"start\": 18, \"end\": 25, \"planning\": \"Lift lid off pot and translate it to placement area; gripper remains closed and motion confirms supported transport.\"},\n {\"id\": 4, \"name\": \"release lid\", \"start\": 26, \"end\": 30, \"planning\": \"Open gripper to release lid onto surface; inferred from gripper opening trend and final position over target location.\"},\n {\"id\": 5, \"name\": \"retreat from lid\", \"start\": 31, \"end\": 34, \"planning\": \"Withdraw end-effector upward and away from released lid; gripper remains open and no further interaction occurs.\"}\n ],\n \"global_plan\": \"Approach the pot lid, grasp it securely, lift and move it aside, release it on the board, then retreat to complete the task.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases. Segments 2 and 5 were merged into adjacent logical phases for natural manipulation flow. Gripper evidence strictly followed: grasp only where closing occurred and images confirmed contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 12, + "planning": "Move end-effector toward the pot lid without grasping, as gripper remains fully open and no closing is observed." + }, + { + "id": 2, + "name": "grasp lid", + "start": 13, + "end": 17, + "planning": "Close gripper around lid handle; segment shows meaningful closing and images confirm contact and grip on lid." + }, + { + "id": 3, + "name": "lift and move lid", + "start": 18, + "end": 25, + "planning": "Lift lid off pot and translate it to placement area; gripper remains closed and motion confirms supported transport." + }, + { + "id": 4, + "name": "release lid", + "start": 26, + "end": 30, + "planning": "Open gripper to release lid onto surface; inferred from gripper opening trend and final position over target location." + }, + { + "id": 5, + "name": "retreat from lid", + "start": 31, + "end": 34, + "planning": "Withdraw end-effector upward and away from released lid; gripper remains open and no further interaction occurs." + } + ], + "global_plan": "Approach the pot lid, grasp it securely, lift and move it aside, release it on the board, then retreat to complete the task.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases. Segments 2 and 5 were merged into adjacent logical phases for natural manipulation flow. Gripper evidence strictly followed: grasp only where closing occurred and images confirmed contact." + } + }, + "episode_goal": "Remove the lid from the orange pot and place it on the wooden cutting board.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32580816745758057, + -0.0466388501226902, + 0.14187580347061157, + 3.0681614875793457, + -0.026420174166560173, + 0.35958409309387207 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the orange pot and its lid visible below. No part of the task has been completed yet as the gripper is open and no contact has been made. The robot needs to lower its arm to approach and align with the pot lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 15 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.32168224453926086, + -0.0453726090490818, + 0.1299157589673996, + 3.0837466716766357, + 0.006507601588964462, + 0.35553985834121704 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the orange pot and its lid visible below. No part of the task has been completed yet as the gripper is open and no contact has been made. The robot needs to lower its arm to approach and align with the pot lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 15 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31022313237190247, + -0.021985411643981934, + 0.12440019100904465, + 3.0681779384613037, + -0.017309341579675674, + 0.2981323003768921 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the orange pot and its lid visible below. No part of the task has been completed yet as the gripper is open and no contact has been made. The robot needs to lower its arm to approach and align with the pot lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2980518341064453, + 0.009833360090851784, + 0.12938135862350464, + 3.03825044631958, + -0.03086308389902115, + 0.2518446743488312 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange container": [ + 175, + 325, + 407, + 582 + ], + "red fruit": [ + 544, + 639, + 661, + 801 + ], + "grey cabinet": [ + 112, + 542, + 693, + 995 + ], + "yellow fruit": [ + 458, + 331, + 543, + 444 + ], + "black tiled wall": [ + 304, + 7, + 971, + 424 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the orange pot and its lid visible below. No part of the task has been completed yet as the gripper is open and no contact has been made. The robot needs to lower its arm to approach and align with the pot lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2870864272117615, + 0.03800666704773903, + 0.1217147633433342, + 3.0344676971435547, + -0.008398371748626232, + 0.18790824711322784 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the orange pot and its lid visible below. No part of the task has been completed yet as the gripper is open and no contact has been made. The robot needs to lower its arm to approach and align with the pot lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785945534706116, + 0.06038939207792282, + 0.11730658262968063, + 3.033511161804199, + 0.00034754734952002764, + 0.15298090875148773 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board with the orange pot and its lid visible below. No part of the task has been completed yet as the gripper is open and no contact has been made. The robot needs to lower its arm to approach and align with the pot lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2687036991119385, + 0.07621023058891296, + 0.10471969097852707, + 3.037764072418213, + 0.04647275432944298, + 0.1130867451429367 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 5 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2626960277557373, + 0.0853922963142395, + 0.09355273842811584, + 3.043180227279663, + 0.07354257255792618, + 0.08655151724815369 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25816959142684937, + 0.09513776749372482, + 0.08007166534662247, + 3.0563948154449463, + 0.08498019725084305, + 0.07697107642889023 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559129595756531, + 0.09836874902248383, + 0.07333271950483322, + 3.072645664215088, + 0.0715450569987297, + 0.05847647413611412 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange container": [ + 176, + 329, + 406, + 582 + ], + "chair leg": [ + 18, + 9, + 75, + 88 + ], + "black tiled wall": [ + 336, + 4, + 959, + 421 + ], + "red fruit": [ + 544, + 639, + 661, + 801 + ], + "yellow fruit": [ + 458, + 330, + 543, + 443 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2544463574886322, + 0.1006261482834816, + 0.06721530854701996, + 3.0799567699432373, + 0.07377199828624725, + 0.05065394937992096 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.254120796918869, + 0.10054216533899307, + 0.0639815703034401, + 3.0818467140197754, + 0.06957250833511353, + 0.05136639252305031 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 8 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25444483757019043, + 0.10146095603704453, + 0.05999888479709625, + 3.090714693069458, + 0.05810153856873512, + 0.0503544956445694 + ], + "gripper_value": 0.6831957101821899 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 11 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25597140192985535, + 0.10307297110557556, + 0.05755973979830742, + 3.1005873680114746, + 0.046993594616651535, + 0.048072293400764465 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 12 cm, move down 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556326985359192, + 0.10407685488462448, + 0.05668623372912407, + 3.1036884784698486, + 0.04975315183401108, + 0.04724167287349701 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the wooden cutting board, with the orange pot and its lid visible below. No part of the task has been completed yet. The gripper is open and hovering near the lid, indicating readiness to approach and grasp it. The next action should involve lowering the gripper toward the lid to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 13 cm, move down 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25322648882865906, + 0.10576707869768143, + 0.058130085468292236, + 3.0981764793395996, + 0.06406890600919724, + 0.0557473860681057 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the orange pot lid and is now positioned directly above it with the gripper open. The gripper shows minimal variation in this segment, indicating readiness to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 14 cm, move down 8 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25405341386795044, + 0.11304421722888947, + 0.07404635846614838, + 3.108009099960327, + 0.08093065768480301, + 0.09191906452178955 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the orange pot lid and is now positioned directly above it with the gripper open. The gripper shows minimal variation in this segment, indicating readiness to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 14 cm, move down 8 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26123201847076416, + 0.11597826331853867, + 0.0989689901471138, + 3.1165030002593994, + 0.0695996955037117, + 0.17371654510498047 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot has approached the orange pot lid and is now positioned directly above it with the gripper open. The gripper shows minimal variation in this segment, indicating readiness to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 5 cm, move right 14 cm, move down 8 cm, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26800549030303955, + 0.10127124190330505, + 0.11103780567646027, + 3.0838146209716797, + 0.0832483246922493, + 0.2153238207101822 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has approached the orange pot lid and is now positioned directly above it with the gripper open. The gripper shows minimal variation in this segment, indicating readiness to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 14 cm, move down 8 cm, open gripper; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27652448415756226, + 0.07250329107046127, + 0.11657381057739258, + 3.0656182765960693, + 0.10341902077198029, + 0.22596338391304016 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has approached the orange pot lid and is now positioned directly above it with the gripper open. The gripper shows minimal variation in this segment, indicating readiness to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, move down 9 cm, open gripper; then move left 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866573631763458, + 0.04343702271580696, + 0.11589600890874863, + 3.068333864212036, + 0.08424565941095352, + 0.2208322286605835 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has approached the orange pot lid and is now positioned directly above it with the gripper open. The gripper shows minimal variation in this segment, indicating readiness to close. The next action is to close the gripper to grasp the lid securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move down 8 cm, open gripper; then move left 4 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907215654850006, + 0.01662077195942402, + 0.1004638671875, + 3.052570343017578, + 0.10082080960273743, + 0.20420309901237488 + ], + "gripper_value": 0.41037410497665405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has grasped the lid of the orange pot and is currently lifting it upward, as indicated by the gripper state and motion data. The lid is partially elevated above the pot, confirming progress in the 'lift and move lid' subtask. The next action should continue lifting and begin translating the lid toward the wooden cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 7 cm, open gripper; then move left 7 cm, move up 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2986609935760498, + -0.007044423371553421, + 0.07993324100971222, + 3.0465078353881836, + 0.10253161191940308, + 0.20552265644073486 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has grasped the lid of the orange pot and is currently lifting it upward, as indicated by the gripper state and motion data. The lid is partially elevated above the pot, confirming progress in the 'lift and move lid' subtask. The next action should continue lifting and begin translating the lid toward the wooden cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 5 cm, open gripper; then move left 7 cm, move up 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30462247133255005, + -0.02202342264354229, + 0.05423867329955101, + 3.0624513626098633, + 0.12545780837535858, + 0.2232000082731247 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has grasped the lid of the orange pot and is currently lifting it upward, as indicated by the gripper state and motion data. The lid is partially elevated above the pot, confirming progress in the 'lift and move lid' subtask. The next action should continue lifting and begin translating the lid toward the wooden cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, open gripper; then move left 7 cm, move up 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3154025077819824, + -0.030269276350736618, + 0.03762482851743698, + 3.0890157222747803, + 0.12484925985336304, + 0.2476535141468048 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange container": [ + 191, + 335, + 405, + 576 + ], + "wooden board": [ + 15, + 123, + 884, + 937 + ], + "chair leg": [ + 183, + 31, + 306, + 208 + ], + "grey cabinet": [ + 110, + 541, + 697, + 995 + ], + "red fruit": [ + 545, + 643, + 662, + 804 + ], + "yellow fruit": [ + 458, + 336, + 543, + 445 + ], + "black tiled wall": [ + 305, + 4, + 983, + 394 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has grasped the lid of the orange pot and is currently lifting it upward, as indicated by the gripper state and motion data. The lid is partially elevated above the pot, confirming progress in the 'lift and move lid' subtask. The next action should continue lifting and begin translating the lid toward the wooden cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move left 7 cm, move up 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31769922375679016, + -0.03502533957362175, + 0.03031935729086399, + 3.085632085800171, + 0.1347445547580719, + 0.25014445185661316 + ], + "gripper_value": 0.4784920811653137 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "lift and move lid", + "subtask_reasoning": "The robot has grasped the lid of the orange pot and is currently lifting it upward, as indicated by the gripper state and motion data. The lid is partially elevated above the pot, confirming progress in the 'lift and move lid' subtask. The next action should continue lifting and begin translating the lid toward the wooden cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 7 cm, move up 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166874945163727, + -0.038511570543050766, + 0.031321194022893906, + 3.0566792488098145, + 0.15100954473018646, + 0.24834232032299042 + ], + "gripper_value": 0.7922340631484985 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot has grasped the lid of the orange pot and is currently lifting it upward, as indicated by the gripper state and motion data. The lid is partially elevated above the pot, confirming progress in the 'lift and move lid' subtask. The next action should continue lifting and begin translating the lid toward the wooden cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 8 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31546616554260254, + -0.031677424907684326, + 0.040096182376146317, + 3.029118776321411, + 0.16816465556621552, + 0.2328808754682541 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The robot has grasped the lid of the orange pot and is currently lifting it upward, as indicated by the gripper state and motion data. The lid is partially elevated above the pot, confirming progress in the 'lift and move lid' subtask. The next action should continue lifting and begin translating the lid toward the wooden cutting board for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177921175956726, + -0.02726084180176258, + 0.05629843845963478, + 3.007824420928955, + 0.14526014029979706, + 0.22653920948505402 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The lid is currently resting on the wooden cutting board, indicating the placement action is complete. The gripper is fully open and positioned above the lid, confirming the release has occurred. The robot should now retreat or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 5 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3180318772792816, + -0.01874985545873642, + 0.07898129522800446, + 3.0047097206115723, + 0.12599745392799377, + 0.21720683574676514 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The lid is currently resting on the wooden cutting board, indicating the placement action is complete. The gripper is fully open and positioned above the lid, confirming the release has occurred. The robot should now retreat or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 3 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3161097764968872, + 0.000572670775000006, + 0.10005509853363037, + 3.0194854736328125, + 0.0820574089884758, + 0.24040010571479797 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "release lid", + "subtask_reasoning": "The lid is currently resting on the wooden cutting board, indicating the placement action is complete. The gripper is fully open and positioned above the lid, confirming the release has occurred. The robot should now retreat or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31253501772880554, + 0.033026520162820816, + 0.10700153559446335, + 3.0515952110290527, + 0.0708308145403862, + 0.2867222726345062 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow fruit": [ + 457, + 330, + 543, + 444 + ], + "red fruit": [ + 544, + 639, + 662, + 803 + ], + "grey cabinet": [ + 112, + 541, + 697, + 995 + ], + "black tiled wall": [ + 310, + 7, + 978, + 445 + ] + } + } + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The lid is currently resting on the wooden cutting board, indicating the placement action is complete. The gripper is fully open and positioned above the lid, confirming the release has occurred. The robot should now retreat or move away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3126324713230133, + 0.029626842588186264, + 0.10701660811901093, + 3.0516321659088135, + 0.072212815284729, + 0.2743152678012848 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The lid has been successfully removed from the orange pot and placed on the wooden cutting board. The robot's gripper is open and positioned above the workspace, indicating the release is complete. The next action is to retreat the arm away from the cutting board to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.312444806098938, + 0.03154456242918968, + 0.10701660811901093, + 3.0516321659088135, + 0.072212815284729, + 0.2804511785507202 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The lid has been successfully removed from the orange pot and placed on the wooden cutting board. The robot's gripper is open and positioned above the workspace, indicating the release is complete. The next action is to retreat the arm away from the cutting board to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.312444806098938, + 0.03154456242918968, + 0.10701660811901093, + 3.0516321659088135, + 0.072212815284729, + 0.2804511785507202 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Remove the lid from the orange pot and place it on the wooden cutting board." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift and move lid" + }, + { + "id": 4, + "subtask": "release lid" + }, + { + "id": 5, + "subtask": "retreat from lid" + } + ], + "subtask_name": "retreat from lid", + "subtask_reasoning": "The lid has been successfully removed from the orange pot and placed on the wooden cutting board. The robot's gripper is open and positioned above the workspace, indicating the release is complete. The next action is to retreat the arm away from the cutting board to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000923_ecot.json b/cot/chunk-0000/episode_0000923_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..617937cf84450ed88e432c26d4e6f2da76ee8e57 --- /dev/null +++ b/cot/chunk-0000/episode_0000923_ecot.json @@ -0,0 +1,2156 @@ +{ + "task_name": "episode_0000923", + "episode_json": "json/chunk-0000/episode_0000923.json", + "video_path": "videos/chunk-0000/image_0/episode_0000923.mp4", + "instruction": "Open low fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000923.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.7779568433761597, + "std": 0.268797367811203, + "delta_total": 0.003992199897766113, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.77796, std=0.26880, total_delta=0.00399). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 212, + 212, + 212, + 212, + 212, + 217, + 217, + 217, + 217, + 217, + 217, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17, + 17 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 11 + ], + [ + 3, + 12, + 16 + ], + [ + 4, + 17, + 22 + ], + [ + 5, + 23, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge door\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the lower fridge door handle without grasping.\"},\n {\"id\": 2, \"name\": \"grasp door handle\", \"start\": 3, \"end\": 11, \"planning\": \"Close gripper to securely grasp the fridge door handle as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"pull door open\", \"start\": 12, \"end\": 16, \"planning\": \"Pull the door outward using the grasped handle to begin opening the fridge.\"},\n {\"id\": 4, \"name\": \"release handle after opening\", \"start\": 17, \"end\": 22, \"planning\": \"Open gripper to release the handle once the door is sufficiently open, then retreat slightly.\"},\n {\"id\": 5, \"name\": \"retreat from fridge\", \"start\": 23, \"end\": 31, \"planning\": \"Move end-effector away from the now-open fridge door to complete the task.\"}\n ],\n \"global_plan\": \"Open the low fridge by approaching the handle, grasping it, pulling the door open, releasing the handle, and retreating.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segments 2 and 4; grasp wording is used only where supported by both gripper data and imagery. Segments 1, 3, and 5 involve no grasping — described with motion-only terms.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge door", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the lower fridge door handle without grasping." + }, + { + "id": 2, + "name": "grasp door handle", + "start": 3, + "end": 11, + "planning": "Close gripper to securely grasp the fridge door handle as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "pull door open", + "start": 12, + "end": 16, + "planning": "Pull the door outward using the grasped handle to begin opening the fridge." + }, + { + "id": 4, + "name": "release handle after opening", + "start": 17, + "end": 22, + "planning": "Open gripper to release the handle once the door is sufficiently open, then retreat slightly." + }, + { + "id": 5, + "name": "retreat from fridge", + "start": 23, + "end": 31, + "planning": "Move end-effector away from the now-open fridge door to complete the task." + } + ], + "global_plan": "Open the low fridge by approaching the handle, grasping it, pulling the door open, releasing the handle, and retreating.", + "notes": "Gripper evidence confirms meaningful closing only in segments 2 and 4; grasp wording is used only where supported by both gripper data and imagery. Segments 1, 3, and 5 involve no grasping — described with motion-only terms." + } + }, + "episode_goal": "Open the low fridge door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.20455481112003326, + 0.1421571522951126, + 0.029466180130839348, + -3.0146663188934326, + -0.12788130342960358, + 0.3419616222381592 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the low fridge with its gripper open and not yet in contact with the handle. No part of the subtask has been completed. The next action should be to move the gripper closer to the fridge door handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 2 cm, keep gripper open; then move forward 9 cm, move right 11 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.20375005900859833, + 0.137485533952713, + 0.02532145194709301, + -3.0195541381835938, + -0.11914966255426407, + 0.34129348397254944 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the low fridge with its gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with the next likely action being to move closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 1 cm, keep gripper open; then move forward 9 cm, move right 11 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21105743944644928, + 0.10267691314220428, + 0.013594317249953747, + -3.0439488887786865, + -0.14504501223564148, + 0.30691051483154297 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the low fridge with its gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with the next likely action being to move closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 9 cm, move right 11 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.22043906152248383, + 0.07950623333454132, + 0.011861180886626244, + -3.0723624229431152, + -0.1665542721748352, + 0.26471734046936035 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot is positioned near the low fridge with its gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with the next likely action being to move closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 11 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23627227544784546, + 0.04204715043306351, + 0.012584700249135494, + -3.1118202209472656, + -0.20432135462760925, + 0.1761741042137146 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot is positioned near the low fridge with its gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with the next likely action being to move closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 7 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24617443978786469, + 0.013929742388427258, + 0.004547967575490475, + -3.115539312362671, + -0.21234634518623352, + 0.11794710904359818 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 911, + 48, + 995, + 281 + ], + "handle": [ + 581, + 497, + 652, + 734 + ] + } + } + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot is positioned near the low fridge with its gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with the next likely action being to move closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 5 cm, tilt back 10 degrees, close gripper; then move back 5 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630017399787903, + -0.01013087946921587, + 0.00033752075978554785, + -3.1090362071990967, + -0.24162128567695618, + 0.11073123663663864 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot is positioned near the low fridge with its gripper open and no contact made yet. The subtask of approaching the fridge door is in progress, with the next likely action being to move closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 5 cm, tilt back 10 degrees, close gripper; then move back 8 cm, move left 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28096625208854675, + -0.028676142916083336, + -0.011296192184090614, + -3.086465358734131, + -0.2615325152873993, + 0.07985463738441467 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot arm is positioned near the low fridge door handle, with the gripper open and ready to engage. The approach phase is complete, and the current subtask requires closing the gripper to grasp the handle. The next action is to close the gripper to secure contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, tilt back 10 degrees, close gripper; then move back 10 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2939494848251343, + -0.028530247509479523, + -0.021593479439616203, + -3.060046434402466, + -0.2991928458213806, + 0.07916659116744995 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot arm is positioned near the low fridge door handle, with the gripper open and ready to engage. The approach phase is complete, and the current subtask requires closing the gripper to grasp the handle. The next action is to close the gripper to secure contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, close gripper; then move back 10 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30278703570365906, + -0.026262329891324043, + -0.03837796300649643, + -3.0262978076934814, + -0.328656941652298, + 0.051450204104185104 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot arm is positioned near the low fridge door handle, with the gripper open and ready to engage. The approach phase is complete, and the current subtask requires closing the gripper to grasp the handle. The next action is to close the gripper to secure contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 10 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30875158309936523, + -0.02705940417945385, + -0.045503199100494385, + -3.0205588340759277, + -0.34481948614120483, + 0.02787736803293228 + ], + "gripper_value": 0.9453431367874146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot arm is positioned near the low fridge door handle, with the gripper open and ready to engage. The approach phase is complete, and the current subtask requires closing the gripper to grasp the handle. The next action is to close the gripper to secure contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 3 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30959025025367737, + -0.02649518847465515, + -0.04631071165204048, + -3.0317819118499756, + -0.34826648235321045, + 0.034360580146312714 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "grasp door handle", + "subtask_reasoning": "The robot arm is positioned near the low fridge door handle, with the gripper open and ready to engage. The approach phase is complete, and the current subtask requires closing the gripper to grasp the handle. The next action is to close the gripper to secure contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 5 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3108479380607605, + -0.027626892551779747, + -0.046669475734233856, + -3.068920373916626, + -0.35095399618148804, + 0.048668280243873596 + ], + "gripper_value": 0.37631502747535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned near the low fridge door handle, with the gripper open and ready to engage. The approach phase is complete, and the current subtask requires closing the gripper to grasp the handle. The next action is to close the gripper to secure contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 7 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066723644733429, + -0.028102871030569077, + -0.04809780791401863, + -3.0979726314544678, + -0.33347001671791077, + 0.039206478744745255 + ], + "gripper_value": 0.22810569405555725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot arm is positioned near the low fridge door handle, with the gripper open and ready to engage. The approach phase is complete, and the current subtask requires closing the gripper to grasp the handle. The next action is to close the gripper to secure contact with the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 8 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28922945261001587, + -0.025510938838124275, + -0.04813748598098755, + -3.0824313163757324, + -0.3260961174964905, + -0.0051325843669474125 + ], + "gripper_value": 0.23460371792316437 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has grasped the low fridge handle and is currently pulling the door open, as evidenced by the partially open door and gripper engagement. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 3 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 8 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2640250325202942, + -0.018226273357868195, + -0.04792335256934166, + -3.065113067626953, + -0.3052753508090973, + -0.06370297819375992 + ], + "gripper_value": 0.25133779644966125 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 911, + 47, + 995, + 280 + ] + } + } + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has grasped the low fridge handle and is currently pulling the door open, as evidenced by the partially open door and gripper engagement. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 3 cm, keep gripper open; then move forward 8 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.23279817402362823, + -0.006545246113091707, + -0.04627838730812073, + -3.0389866828918457, + -0.2679031491279602, + -0.11064033210277557 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "pull door open", + "subtask_reasoning": "The robot has grasped the low fridge handle and is currently pulling the door open, as evidenced by the partially open door and gripper engagement. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move forward 8 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 12, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21302713453769684, + 0.007191215641796589, + -0.02262355387210846, + -3.034851551055908, + -0.22485943138599396, + -0.14122186601161957 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The robot has grasped the low fridge handle and is currently pulling the door open, as evidenced by the partially open door and gripper engagement. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20404505729675293, + 0.01580219715833664, + 0.005093648564070463, + -3.0437426567077637, + -0.19541214406490326, + -0.13999059796333313 + ], + "gripper_value": 0.842682421207428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The robot has grasped the low fridge handle and is currently pulling the door open, as evidenced by the partially open door and gripper engagement. The next action is to continue pulling until the door is fully open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 6 cm, move left 10 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21375809609889984, + 0.013351011089980602, + 0.03607802838087082, + -3.1069211959838867, + -0.2368912249803543, + -0.10119064897298813 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 3 cm, keep gripper open; then move back 8 cm, move left 12 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23808670043945312, + 0.0014932384947314858, + 0.04918798431754112, + -3.137507438659668, + -0.2600780427455902, + -0.06838478147983551 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 911, + 47, + 995, + 281 + ], + "cup": [ + 561, + 610, + 634, + 702 + ] + } + } + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 4 cm, keep gripper open; then move back 9 cm, move left 15 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628302574157715, + -0.01439622137695551, + 0.04338661953806877, + 3.135329484939575, + -0.2562229633331299, + -0.05274833366274834 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, keep gripper open; then move back 9 cm, move left 16 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28436651825904846, + -0.027091044932603836, + 0.024527987465262413, + 3.1412875652313232, + -0.2641928493976593, + -0.05686763674020767 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "release handle after opening", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper open; then move back 9 cm, move left 16 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916383445262909, + -0.027738768607378006, + 0.005700015928596258, + -3.121596336364746, + -0.25861626863479614, + -0.037287838757038116 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 16 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879825532436371, + -0.021709997206926346, + -0.016840660944581032, + -3.08876633644104, + -0.21416737139225006, + -0.021127397194504738 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 16 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767769992351532, + -0.008719900622963905, + -0.03203590214252472, + -3.064289093017578, + -0.15339112281799316, + -0.01643151231110096 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 14 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2627662718296051, + 0.011817844584584236, + -0.03922484442591667, + -3.0450832843780518, + -0.13542714715003967, + -0.0060853720642626286 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The low fridge door is open, and the gripper is no longer in contact with the handle. The release action has been completed, and the next step is to retreat from the fridge area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 12 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24666371941566467, + 0.03721631318330765, + -0.04569927975535393, + -3.0286061763763428, + -0.11680697649717331, + 0.0015227195108309388 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door, having completed the action of pulling it open. The gripper is not engaged, indicating the handle has been released. The next step is to move the arm away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22733432054519653, + 0.06840375065803528, + -0.05256670340895653, + -3.0025453567504883, + -0.11623220890760422, + -0.008526269346475601 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door, having completed the action of pulling it open. The gripper is not engaged, indicating the handle has been released. The next step is to move the arm away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.21471109986305237, + 0.09677094221115112, + -0.05570881441235542, + -2.969299793243408, + -0.1590157002210617, + -0.029354404658079147 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plate": [ + 396, + 556, + 538, + 716 + ], + "cup": [ + 560, + 609, + 632, + 701 + ], + "sink": [ + 910, + 48, + 995, + 280 + ] + } + } + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door, having completed the action of pulling it open. The gripper is not engaged, indicating the handle has been released. The next step is to move the arm away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.20207639038562775, + 0.11951472610235214, + -0.05644749104976654, + -2.965299129486084, + -0.17072412371635437, + -0.051087360829114914 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door, having completed the action of pulling it open. The gripper is not engaged, indicating the handle has been released. The next step is to move the arm away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.20076097548007965, + 0.13476824760437012, + -0.052875179797410965, + -2.9618043899536133, + -0.1206008642911911, + -0.021890584379434586 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the low fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "grasp door handle" + }, + { + "id": 3, + "subtask": "pull door open" + }, + { + "id": 4, + "subtask": "release handle after opening" + }, + { + "id": 5, + "subtask": "retreat from fridge" + } + ], + "subtask_name": "retreat from fridge", + "subtask_reasoning": "The robot arm is positioned near the open low fridge door, having completed the action of pulling it open. The gripper is not engaged, indicating the handle has been released. The next step is to move the arm away from the fridge to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000924_ecot.json b/cot/chunk-0000/episode_0000924_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..69f33295aea430963f59ec172a5a5a7f52f9de0f --- /dev/null +++ b/cot/chunk-0000/episode_0000924_ecot.json @@ -0,0 +1,4416 @@ +{ + "task_name": "episode_0000924", + "episode_json": "json/chunk-0000/episode_0000924.json", + "video_path": "videos/chunk-0000/image_0/episode_0000924.mp4", + "instruction": "Put strawberry on plate and corncob in pot or pan on stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 63, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000924.json" + }, + "fps": 5.0, + "T_eff": 63, + "gripper_behavior_summary": { + "available": true, + "range": 0.3455066680908203, + "std": 0.13384371995925903, + "delta_total": -0.000666201114654541, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.34551, std=0.13384, total_delta=-0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 6 + ], + [ + 4, + 7, + 14 + ], + [ + 5, + 15, + 22 + ], + [ + 6, + 23, + 27 + ], + [ + 7, + 28, + 62 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach strawberry\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the red strawberry on the stove surface.\"},\n {\"id\": 2, \"name\": \"make contact with strawberry\", \"start\": 7, \"end\": 14, \"planning\": \"Lower and adjust pose to establish physical contact with the strawberry without grasping.\"},\n {\"id\": 3, \"name\": \"reposition strawberry to plate\", \"start\": 15, \"end\": 22, \"planning\": \"Slide or nudge the strawberry from its initial position onto the green plate using open gripper.\"},\n {\"id\": 4, \"name\": \"retreat and reorient for corncob\", \"start\": 23, \"end\": 27, \"planning\": \"Lift and rotate arm to approach the green corncob near the pot.\"},\n {\"id\": 5, \"name\": \"grasp corncob\", \"start\": 28, \"end\": 45, \"planning\": \"Close gripper around corncob and lift it securely based on meaningful closing evidence and visual confirmation.\"},\n {\"id\": 6, \"name\": \"place corncob in pot\", \"start\": 46, \"end\": 62, \"planning\": \"Transport corncob over pot and release it inside by opening gripper after positioning.\"}\n ],\n \"global_plan\": \"First manipulate the strawberry onto the plate via sliding since no grasp occurred, then grasp and place the corncob into the pot using confirmed gripper closure.\",\n \"notes\": \"Strawberry was never grasped — all motion before frame 28 used open gripper (value ~0.76–1.0) with no closing delta; corncob segment (28–62) shows clear gripper closure (delta=-0.30494) and image confirms grasp and placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach strawberry", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the red strawberry on the stove surface." + }, + { + "id": 2, + "name": "make contact with strawberry", + "start": 7, + "end": 14, + "planning": "Lower and adjust pose to establish physical contact with the strawberry without grasping." + }, + { + "id": 3, + "name": "reposition strawberry to plate", + "start": 15, + "end": 22, + "planning": "Slide or nudge the strawberry from its initial position onto the green plate using open gripper." + }, + { + "id": 4, + "name": "retreat and reorient for corncob", + "start": 23, + "end": 27, + "planning": "Lift and rotate arm to approach the green corncob near the pot." + }, + { + "id": 5, + "name": "grasp corncob", + "start": 28, + "end": 45, + "planning": "Close gripper around corncob and lift it securely based on meaningful closing evidence and visual confirmation." + }, + { + "id": 6, + "name": "place corncob in pot", + "start": 46, + "end": 62, + "planning": "Transport corncob over pot and release it inside by opening gripper after positioning." + } + ], + "global_plan": "First manipulate the strawberry onto the plate via sliding since no grasp occurred, then grasp and place the corncob into the pot using confirmed gripper closure.", + "notes": "Strawberry was never grasped — all motion before frame 28 used open gripper (value ~0.76–1.0) with no closing delta; corncob segment (28–62) shows clear gripper closure (delta=-0.30494) and image confirms grasp and placement." + } + }, + "episode_goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26629990339279175, + -0.06534984707832336, + 0.09965558350086212, + -3.126680612564087, + -0.22385676205158234, + 0.07028880715370178 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is positioned above the stove with the strawberry and corncob visible on the burners. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is moving toward the strawberry to initiate contact for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2632810175418854, + -0.06510352343320847, + 0.09294011443853378, + -3.1236038208007812, + -0.20361265540122986, + 0.07109571248292923 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is positioned above the stove with the strawberry and corncob visible on the burners. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is moving toward the strawberry to initiate contact for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26251569390296936, + -0.06705373525619507, + 0.08213090896606445, + 3.1399707794189453, + -0.21854986250400543, + 0.07065374404191971 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot is positioned above the stove with the strawberry and corncob visible on the burners. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot is moving toward the strawberry to initiate contact for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2638915479183197, + -0.06768520176410675, + 0.0745294913649559, + 3.129765272140503, + -0.23438522219657898, + 0.0726504698395729 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the stove where the red strawberry sits on a burner knob, with the green plate nearby. No manipulation has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the strawberry to prepare for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26542985439300537, + -0.06635213643312454, + 0.06646410375833511, + 3.1223337650299072, + -0.2509971857070923, + 0.07535909861326218 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the stove where the red strawberry sits on a burner knob, with the green plate nearby. No manipulation has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the strawberry to prepare for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26568061113357544, + -0.06387294828891754, + 0.06215286627411842, + 3.1231374740600586, + -0.27472636103630066, + 0.0749240294098854 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the stove where the red strawberry sits on a burner knob, with the green plate nearby. No manipulation has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the strawberry to prepare for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26105624437332153, + -0.060983575880527496, + 0.05052855238318443, + -3.1306891441345215, + -0.2932538092136383, + 0.065555639564991 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "approach strawberry", + "subtask_reasoning": "The robot arm is positioned above the stove where the red strawberry sits on a burner knob, with the green plate nearby. No manipulation has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the strawberry to prepare for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2552551031112671, + -0.060019854456186295, + 0.041356876492500305, + 3.136422634124756, + -0.30583757162094116, + 0.05687221512198448 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 559, + 532, + 668, + 681 + ], + "stove": [ + 200, + 231, + 955, + 916 + ], + "green toy vegetable": [ + 376, + 414, + 479, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot arm is positioned above the stove where the red strawberry sits on a burner knob, with the green plate nearby. No manipulation has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the strawberry to prepare for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2538750171661377, + -0.059611089527606964, + 0.035600513219833374, + 3.124112367630005, + -0.3269672393798828, + 0.07233007252216339 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot arm is positioned above the stove where the red strawberry sits on a burner knob, with the green plate nearby. No manipulation has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the strawberry to prepare for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2555199861526489, + -0.06107809767127037, + 0.031364765018224716, + 3.1095972061157227, + -0.34648793935775757, + 0.07593453675508499 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot arm is positioned above the stove where the red strawberry sits on a burner knob, with the green plate nearby. No manipulation has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the strawberry to prepare for sliding it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2639375925064087, + -0.06369543820619583, + 0.02992851845920086, + 3.0854766368865967, + -0.3771046996116638, + 0.07420334219932556 + ], + "gripper_value": 0.7280064821243286 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26813048124313354, + -0.06248413026332855, + 0.030998924747109413, + 3.080265998840332, + -0.37841224670410156, + 0.08069252967834473 + ], + "gripper_value": 0.748681366443634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move forward 8 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27034980058670044, + -0.06130398064851761, + 0.03186450153589249, + 3.0886337757110596, + -0.35288405418395996, + 0.0754452720284462 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt forward 10 degrees, keep gripper closed; then move forward 8 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.268878698348999, + -0.05967937782406807, + 0.03454950079321861, + 3.1125147342681885, + -0.28706300258636475, + 0.046570926904678345 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 566, + 523, + 659, + 656 + ], + "green toy vegetable": [ + 377, + 414, + 479, + 577 + ], + "stove": [ + 199, + 211, + 955, + 918 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move forward 8 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649793326854706, + -0.057224176824092865, + 0.05174066871404648, + 3.138469934463501, + -0.23760934174060822, + 0.0478832945227623 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "make contact with strawberry", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move forward 8 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26225557923316956, + -0.061318572610616684, + 0.0690339207649231, + -3.13421630859375, + -0.2091069519519806, + 0.053766243159770966 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621643841266632, + -0.06386762857437134, + 0.07851265370845795, + -3.1259100437164307, + -0.17701537907123566, + 0.05861065536737442 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690446674823761, + -0.06664339452981949, + 0.09211528301239014, + -3.131397247314453, + -0.1736060529947281, + 0.06843108683824539 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot has approached the strawberry and is now in contact with it, as indicated by the gripper value and position. The next step is to slide the strawberry onto the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823144793510437, + -0.07334743440151215, + 0.09567345678806305, + -3.1217997074127197, + -0.17788459360599518, + 0.07218113541603088 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 603, + 337, + 723, + 514 + ], + "green toy vegetable": [ + 377, + 414, + 478, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot is in contact with the strawberry on the stove, having approached it as planned. No grasping has occurred, consistent with the sliding strategy. The next action is to slide the strawberry toward the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.30201977491378784, + -0.0786701962351799, + 0.09754489362239838, + -3.108015775680542, + -0.17387880384922028, + 0.08245273679494858 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot is in contact with the strawberry on the stove, having approached it as planned. No grasping has occurred, consistent with the sliding strategy. The next action is to slide the strawberry toward the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32427728176116943, + -0.07847128063440323, + 0.09727893024682999, + -3.1052041053771973, + -0.1615067720413208, + 0.060444314032793045 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot is in contact with the strawberry on the stove, having approached it as planned. No grasping has occurred, consistent with the sliding strategy. The next action is to slide the strawberry toward the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3383120596408844, + -0.07809887081384659, + 0.09023717045783997, + -3.114884853363037, + -0.16869275271892548, + 0.053917039185762405 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot is in contact with the strawberry on the stove, having approached it as planned. No grasping has occurred, consistent with the sliding strategy. The next action is to slide the strawberry toward the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, keep gripper open; then move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.34140512347221375, + -0.0814461037516594, + 0.08485037088394165, + -3.1353564262390137, + -0.17370688915252686, + 0.06980431824922562 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "reposition strawberry to plate", + "subtask_reasoning": "The robot is in contact with the strawberry on the stove, having approached it as planned. No grasping has occurred, consistent with the sliding strategy. The next action is to slide the strawberry toward the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, keep gripper open; then move back 1 cm, move left 3 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3422423005104065, + -0.08523708581924438, + 0.08382299542427063, + 3.136369466781616, + -0.18652847409248352, + 0.07376720756292343 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "retreat and reorient for corncob", + "subtask_reasoning": "The robot is in contact with the strawberry on the stove, having approached it as planned. No grasping has occurred, consistent with the sliding strategy. The next action is to slide the strawberry toward the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 1 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3384753465652466, + -0.08641762286424637, + 0.07283564656972885, + 3.117790460586548, + -0.19603629410266876, + 0.07821733504533768 + ], + "gripper_value": 0.8344376683235168 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "retreat and reorient for corncob", + "subtask_reasoning": "The robot is in contact with the strawberry on the stove, having approached it as planned. No grasping has occurred, consistent with the sliding strategy. The next action is to slide the strawberry toward the green plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move left 6 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355230689048767, + -0.08733340352773666, + 0.06496904790401459, + 3.122199058532715, + -0.2122752070426941, + 0.08396795392036438 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "retreat and reorient for corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 7 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.33428964018821716, + -0.08863365650177002, + 0.06420861184597015, + 3.1213626861572266, + -0.2092316895723343, + 0.08853942900896072 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "retreat and reorient for corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 3 cm, move left 8 cm, move up 6 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32739022374153137, + -0.08801936358213425, + 0.06351152062416077, + 3.139031171798706, + -0.1709389090538025, + 0.0940731093287468 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "retreat and reorient for corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open; then move back 4 cm, move left 9 cm, move up 4 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3209368884563446, + -0.08548970520496368, + 0.08233218640089035, + -3.1280527114868164, + -0.1422272026538849, + 0.08881980925798416 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3175211548805237, + -0.07654871791601181, + 0.09680311381816864, + -3.114962577819824, + -0.10836517065763474, + 0.055139053612947464 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.316959410905838, + -0.05854877829551697, + 0.1030731052160263, + -3.135526657104492, + -0.05704587697982788, + -0.0251601655036211 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31653159856796265, + -0.05167093127965927, + 0.10263893008232117, + -3.1348628997802734, + -0.04767131805419922, + -0.013767450116574764 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 710, + 356, + 833, + 497 + ], + "green toy vegetable": [ + 377, + 415, + 477, + 576 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31539982557296753, + -0.05814244970679283, + 0.1026308462023735, + -3.139387845993042, + -0.04702061042189598, + -0.02414955571293831 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31589561700820923, + -0.05432827025651932, + 0.105089470744133, + -3.1346347332000732, + -0.05398844927549362, + -0.01891935244202614 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move down 4 cm, tilt back 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30605897307395935, + -0.02962513267993927, + 0.1389659345149994, + -3.0925452709198, + -0.12080128490924835, + -0.011908258311450481 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.29620620608329773, + -0.015420626848936081, + 0.13973501324653625, + -3.0415799617767334, + -0.13084347546100616, + 0.03232400119304657 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The robot has successfully placed the strawberry on the green plate and is now retreating from that area. The gripper is open and positioned above the stove, preparing to reorient towards the yellow corncob located on the left burner for the next placement task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 9 cm, tilt back 20 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.28745168447494507, + -0.006241904105991125, + 0.13771113753318787, + -2.994749069213867, + -0.18021312355995178, + 0.004775539971888065 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28341808915138245, + 0.005922377109527588, + 0.12289141118526459, + -2.977548122406006, + -0.21569058299064636, + 0.00014369185373652726 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2800218462944031, + 0.014042164199054241, + 0.10565395653247833, + -2.9972281455993652, + -0.2471388876438141, + 0.0034362105652689934 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.27850842475891113, + 0.019413309171795845, + 0.09268521517515182, + -3.0062477588653564, + -0.28449493646621704, + 0.003967096097767353 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27666541934013367, + 0.02569025196135044, + 0.0846250131726265, + -3.015418529510498, + -0.3076556921005249, + 0.009675170294940472 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, rotate clockwise 10 degrees, close gripper; then move up 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.275922566652298, + 0.03098023682832718, + 0.07975348085165024, + -3.0214626789093018, + -0.32951921224594116, + 0.017860645428299904 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, close gripper; then move forward 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2709205448627472, + 0.031303782016038895, + 0.07129398733377457, + -3.039367198944092, + -0.33723801374435425, + 0.03819650411605835 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676563858985901, + 0.03014736995100975, + 0.06279980391263962, + -3.053764581680298, + -0.36542609333992004, + 0.051493868231773376 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 711, + 355, + 832, + 499 + ], + "green toy vegetable": [ + 377, + 415, + 479, + 576 + ], + "bowl": [ + 636, + 301, + 871, + 523 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move forward 4 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.26700371503829956, + 0.028150100260972977, + 0.05265149846673012, + -3.073342800140381, + -0.379828542470932, + 0.07139797508716583 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 7 cm, move left 1 cm, move up 7 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.26947131752967834, + 0.025359850376844406, + 0.04477839916944504, + -3.0994503498077393, + -0.40396374464035034, + 0.0952647402882576 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "grasp corncob", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 7 cm, move left 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 45 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679379880428314, + 0.0227588452398777, + 0.03823069855570793, + -3.0981829166412354, + -0.3994346857070923, + 0.09307830780744553 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.2675056755542755, + 0.021792171522974968, + 0.038418106734752655, + -3.105170249938965, + -0.38998302817344666, + 0.09144754707813263 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move up 4 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.26557478308677673, + 0.021360212936997414, + 0.04040782153606415, + -3.0983970165252686, + -0.3520773947238922, + 0.08773977309465408 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.26546379923820496, + 0.019169360399246216, + 0.05131097510457039, + -3.0951507091522217, + -0.32855331897735596, + 0.08955445140600204 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679392397403717, + 0.019261300563812256, + 0.07823134958744049, + -3.0718257427215576, + -0.2960936427116394, + 0.08241858333349228 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red toy food": [ + 711, + 355, + 832, + 500 + ], + "green toy vegetable": [ + 404, + 364, + 494, + 500 + ], + "bowl": [ + 636, + 300, + 870, + 524 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746717035770416, + 0.018798241391777992, + 0.1040823832154274, + -3.0545544624328613, + -0.2526336908340454, + 0.07288175821304321 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872357666492462, + 0.016291841864585876, + 0.11850126087665558, + -3.0583221912384033, + -0.2684692144393921, + 0.07496851682662964 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.31251806020736694, + 0.01873830147087574, + 0.11890210211277008, + -3.0746874809265137, + -0.25409266352653503, + 0.03616638109087944 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is on the stove next to the pot, and the gripper is open and positioned above it. No grasp has occurred yet in this subtask segment. The next action should be to close the gripper to grasp the corncob." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.33450379967689514, + 0.027977323159575462, + 0.106858991086483, + -3.0971758365631104, + -0.25144141912460327, + 0.013395234942436218 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green toy vegetable": [ + 485, + 122, + 567, + 281 + ], + "red toy food": [ + 710, + 355, + 832, + 500 + ] + } + } + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.3399490416049957, + 0.031278740614652634, + 0.10164793580770493, + -3.106273651123047, + -0.2703891098499298, + 0.03343311324715614 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.33755388855934143, + 0.02630387805402279, + 0.09472381323575974, + -3.112173318862915, + -0.2775300443172455, + 0.0506112240254879 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309348523616791, + 0.017460079863667488, + 0.08024651557207108, + -3.1256444454193115, + -0.28152716159820557, + 0.0689949095249176 + ], + "gripper_value": 0.7378748655319214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.3247010111808777, + 0.013091319240629673, + 0.07176880538463593, + -3.132441997528076, + -0.2741132974624634, + 0.07982241362333298 + ], + "gripper_value": 0.9823668599128723 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.3206305205821991, + 0.010360706597566605, + 0.0824357345700264, + -3.1301076412200928, + -0.2746175229549408, + 0.07982982695102692 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.31549781560897827, + 0.009714527055621147, + 0.0872318297624588, + -3.1119544506073, + -0.23668396472930908, + 0.0778668075799942 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.31097668409347534, + 0.0045625390484929085, + 0.10470476746559143, + -3.0925493240356445, + -0.2330138385295868, + 0.07440376281738281 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.30194175243377686, + -0.013223578222095966, + 0.11919266730546951, + -3.0768561363220215, + -0.2386351078748703, + 0.0951850488781929 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red strawberry on the green plate and the yellow corncob into the metal pot on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach strawberry" + }, + { + "id": 2, + "subtask": "make contact with strawberry" + }, + { + "id": 3, + "subtask": "reposition strawberry to plate" + }, + { + "id": 4, + "subtask": "retreat and reorient for corncob" + }, + { + "id": 5, + "subtask": "grasp corncob" + }, + { + "id": 6, + "subtask": "place corncob in pot" + } + ], + "subtask_name": "place corncob in pot", + "subtask_reasoning": "The corncob is currently held by the gripper and positioned directly above the metal pot on the stove. The gripper is closed, indicating a successful grasp has been maintained. The next action is to lower the corncob into the pot and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 62 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 62 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000925_ecot.json b/cot/chunk-0000/episode_0000925_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c762f8447a7a83fd402f96680e268037cff29521 --- /dev/null +++ b/cot/chunk-0000/episode_0000925_ecot.json @@ -0,0 +1,2735 @@ +{ + "task_name": "episode_0000925", + "episode_json": "json/chunk-0000/episode_0000925.json", + "video_path": "videos/chunk-0000/image_0/episode_0000925.mp4", + "instruction": "Putting the yellow cube on top of green and red cube.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000925.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.45095109939575195, + "std": 0.2160242646932602, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.45095, std=0.21602, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow cube\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the yellow cube on the table while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp yellow cube\", \"start\": 9, \"end\": 19, \"planning\": \"Close gripper around the yellow cube and lift it slightly off the table surface.\"},\n {\"id\": 3, \"name\": \"transport to stack location\", \"start\": 20, \"end\": 31, \"planning\": \"Carry the grasped yellow cube over the green-red stack while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place on stack and release\", \"start\": 32, \"end\": 43, \"planning\": \"Lower the yellow cube onto the top of the green-red stack and open gripper to release it.\"}\n ],\n \"global_plan\": \"Pick up the yellow cube from the table, move it over the green-red stacked cubes, and place it on top to complete the three-cube tower.\",\n \"notes\": \"Segment 1 shows gripper closing (0.999→0.555) with motion toward and lifting of yellow cube — consistent with grasp. Segment 2 shows transport then release (gripper opens to 1.000) with final placement visible in frame 43 — consistent with placing on stack.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow cube", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the yellow cube on the table while keeping gripper open." + }, + { + "id": 2, + "name": "grasp yellow cube", + "start": 9, + "end": 19, + "planning": "Close gripper around the yellow cube and lift it slightly off the table surface." + }, + { + "id": 3, + "name": "transport to stack location", + "start": 20, + "end": 31, + "planning": "Carry the grasped yellow cube over the green-red stack while maintaining grip." + }, + { + "id": 4, + "name": "place on stack and release", + "start": 32, + "end": 43, + "planning": "Lower the yellow cube onto the top of the green-red stack and open gripper to release it." + } + ], + "global_plan": "Pick up the yellow cube from the table, move it over the green-red stacked cubes, and place it on top to complete the three-cube tower.", + "notes": "Segment 1 shows gripper closing (0.999→0.555) with motion toward and lifting of yellow cube — consistent with grasp. Segment 2 shows transport then release (gripper opens to 1.000) with final placement visible in frame 43 — consistent with placing on stack." + } + }, + "episode_goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771890163421631, + 0.16262462735176086, + 0.19348305463790894, + 2.9389913082122803, + -0.031047368422150612, + 2.8866891860961914 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow cube visible and within reach. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow cube to prepare for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 13 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772288918495178, + 0.1615685075521469, + 0.1829073280096054, + 2.9631309509277344, + -0.054886993020772934, + 2.884042263031006 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow cube visible and within reach. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow cube to prepare for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 12 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.291908323764801, + 0.16188105940818787, + 0.15773366391658783, + 2.993220806121826, + -0.02631969004869461, + 2.9223520755767822 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow cube visible and within reach. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow cube to prepare for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30182111263275146, + 0.16751979291439056, + 0.13720926642417908, + 2.9990854263305664, + -0.018793517723679543, + 2.944065570831299 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is positioned above the table with the yellow cube visible and within reach. No grasping has occurred yet as the gripper remains open and stationary. The next action is to move the end-effector closer to the yellow cube to prepare for pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019946217536926, + 0.17775095999240875, + 0.11654318869113922, + 3.0090749263763428, + 0.010737325996160507, + 3.0035908222198486 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, keep gripper open; then move back 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.300140917301178, + 0.1882370412349701, + 0.09946722537279129, + 3.0226635932922363, + 0.021035833284258842, + 3.0641415119171143 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 642, + 290, + 733, + 382 + ], + "white block": [ + 553, + 147, + 689, + 287 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30105313658714294, + 0.19175514578819275, + 0.08379645645618439, + 3.057260274887085, + 0.021876707673072815, + 3.090989112854004 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3035547137260437, + 0.19133181869983673, + 0.07625628262758255, + 3.079057455062866, + 0.026679852977395058, + 3.0938663482666016 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30500197410583496, + 0.19165420532226562, + 0.06698990613222122, + 3.0873899459838867, + 0.018889697268605232, + 3.0840537548065186 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "approach yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3060149550437927, + 0.1922493278980255, + 0.06573393940925598, + 3.0855062007904053, + 0.020867861807346344, + 3.0730841159820557 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066885471343994, + 0.19412359595298767, + 0.06641806662082672, + 3.0726118087768555, + 0.024800283834338188, + 3.066960334777832 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 11 cm, tilt right 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30612295866012573, + 0.19623728096485138, + 0.06622222810983658, + 3.0587942600250244, + 0.020508358255028725, + 3.05977201461792 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 11 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3007834255695343, + 0.1976621299982071, + 0.06094832345843315, + 3.0499331951141357, + 0.0007866000523790717, + 3.054028034210205 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 643, + 290, + 732, + 382 + ], + "white block": [ + 553, + 147, + 689, + 287 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 11 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29448238015174866, + 0.1985573172569275, + 0.05504542589187622, + 3.055832862854004, + -0.0155861284583807, + 3.06282377243042 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot is approaching the yellow cube on the table, with the green-red stack visible in the background. No grasping has occurred yet, as the gripper remains open and no contact is evident. The next action is to continue moving the end-effector closer to the yellow cube for eventual pickup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move up 12 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2889683246612549, + 0.19570431113243103, + 0.04127960652112961, + 3.0808284282684326, + -0.048944972455501556, + 3.0601301193237305 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move up 13 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 3 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28779804706573486, + 0.19538109004497528, + 0.03933529928326607, + 3.0791709423065186, + -0.05038590729236603, + 3.0563771724700928 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 13 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 4 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846103012561798, + 0.1939154416322708, + 0.03690396994352341, + 3.0866289138793945, + -0.06475283950567245, + 3.0470685958862305 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 14 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28953734040260315, + 0.19083504378795624, + 0.04250438138842583, + 3.1041512489318848, + -0.0495600551366806, + 3.031280279159546 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move up 13 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30656698346138, + 0.18851999938488007, + 0.08367911726236343, + 3.0679099559783936, + 0.054002851247787476, + 3.0290138721466064 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32443517446517944, + 0.17286664247512817, + 0.13069157302379608, + 3.0011134147644043, + 0.13839712738990784, + 3.003290891647339 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 643, + 290, + 732, + 382 + ], + "white block": [ + 553, + 147, + 689, + 287 + ], + "yellow cube": [ + 165, + 272, + 264, + 408 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "grasp yellow cube", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432971239089966, + 0.1505453884601593, + 0.17230787873268127, + 2.97861909866333, + 0.21263039112091064, + 3.0826053619384766 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3572729229927063, + 0.1319061517715454, + 0.19858761131763458, + 3.017301082611084, + 0.26925018429756165, + 3.140265703201294 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3649691939353943, + 0.1261841058731079, + 0.18460135161876678, + 3.055516242980957, + 0.2545884847640991, + -3.1388099193573 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726336359977722, + 0.12689116597175598, + 0.16560111939907074, + 3.0706639289855957, + 0.23546689748764038, + 3.131232976913452 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 4 cm, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37797117233276367, + 0.12738142907619476, + 0.14710964262485504, + 3.0819032192230225, + 0.21024677157402039, + 3.1210854053497314 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The robot has approached the yellow cube and is now positioned above it with the gripper open. The segment-level gripper evidence indicates a closing motion is occurring or about to occur. The next action is to close the gripper to grasp the yellow cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3848707675933838, + 0.12909197807312012, + 0.13497604429721832, + 3.0905232429504395, + 0.1872043013572693, + 3.1211764812469482 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39449116587638855, + 0.1315583735704422, + 0.13569483160972595, + 3.0828678607940674, + 0.1892889142036438, + 3.1197803020477295 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.4049116373062134, + 0.13105784356594086, + 0.1355854719877243, + 3.069241523742676, + 0.18604667484760284, + 3.1016407012939453 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 643, + 290, + 732, + 382 + ], + "yellow cube": [ + 164, + 272, + 264, + 407 + ], + "white block": [ + 553, + 147, + 690, + 287 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4123374819755554, + 0.13258036971092224, + 0.1338030993938446, + 3.062465190887451, + 0.18028925359249115, + 3.0921289920806885 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4153306782245636, + 0.1328648030757904, + 0.1295246034860611, + 3.0613796710968018, + 0.1683797985315323, + 3.0855326652526855 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.41499951481819153, + 0.1341632455587387, + 0.1275177001953125, + 3.0620107650756836, + 0.1635875701904297, + 3.082672595977783 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4151298999786377, + 0.13420455157756805, + 0.12350285798311234, + 3.0646259784698486, + 0.15463927388191223, + 3.078557014465332 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "transport to stack location", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.41505417227745056, + 0.136042058467865, + 0.12291302531957626, + 3.063582420349121, + 0.15567728877067566, + 3.071037769317627 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4146482050418854, + 0.1382381170988083, + 0.12026707828044891, + 3.067709445953369, + 0.15231502056121826, + 3.0751287937164307 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.41817113757133484, + 0.14033125340938568, + 0.11571769416332245, + 3.071843147277832, + 0.1489717960357666, + 3.076202392578125 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.418497234582901, + 0.14209380745887756, + 0.11680717021226883, + 3.0743563175201416, + 0.14828336238861084, + 3.075561285018921 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.41878005862236023, + 0.14481133222579956, + 0.1126718521118164, + 3.077702045440674, + 0.14299553632736206, + 3.0793299674987793 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 644, + 289, + 733, + 381 + ], + "white block": [ + 553, + 147, + 690, + 287 + ], + "yellow cube": [ + 164, + 272, + 264, + 407 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already grasped and being transported toward the green-red stack. The gripper remains closed with no significant change, indicating continued holding. The next action is to position the yellow cube directly above the red cube for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4198874235153198, + 0.14711076021194458, + 0.11595159769058228, + 3.075319290161133, + 0.1519777923822403, + 3.0822598934173584 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already placed on top of the red and green stack, completing the tower. The gripper is open and no longer in contact with the cube, indicating the release phase is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.41878461837768555, + 0.1479213982820511, + 0.11613262444734573, + 3.0779359340667725, + 0.14973244071006775, + 3.085899591445923 + ], + "gripper_value": 0.5551114082336426 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already placed on top of the red and green stack, completing the tower. The gripper is open and no longer in contact with the cube, indicating the release phase is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.41822221875190735, + 0.1503663808107376, + 0.11587139219045639, + 3.0786640644073486, + 0.15003053843975067, + 3.0877745151519775 + ], + "gripper_value": 0.6099167466163635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already placed on top of the red and green stack, completing the tower. The gripper is open and no longer in contact with the cube, indicating the release phase is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4175250828266144, + 0.15301524102687836, + 0.11436715722084045, + 3.0812337398529053, + 0.1427779495716095, + 3.0912559032440186 + ], + "gripper_value": 0.9099614024162292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already placed on top of the red and green stack, completing the tower. The gripper is open and no longer in contact with the cube, indicating the release phase is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.41731172800064087, + 0.1541854739189148, + 0.11334585398435593, + 3.072863817214966, + 0.13916681706905365, + 3.0801055431365967 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already placed on top of the red and green stack, completing the tower. The gripper is open and no longer in contact with the cube, indicating the release phase is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.41418418288230896, + 0.15333476662635803, + 0.10654418915510178, + 3.0690808296203613, + 0.12073516100645065, + 3.073519468307495 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already placed on top of the red and green stack, completing the tower. The gripper is open and no longer in contact with the cube, indicating the release phase is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.41440263390541077, + 0.15105053782463074, + 0.12087971717119217, + 3.048079252243042, + 0.15017807483673096, + 3.064939498901367 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow cube on top of the red cube, which is already stacked on the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow cube" + }, + { + "id": 2, + "subtask": "grasp yellow cube" + }, + { + "id": 3, + "subtask": "transport to stack location" + }, + { + "id": 4, + "subtask": "place on stack and release" + } + ], + "subtask_name": "place on stack and release", + "subtask_reasoning": "The yellow cube is already placed on top of the red and green stack, completing the tower. The gripper is open and no longer in contact with the cube, indicating the release phase is complete. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 37 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000926_ecot.json b/cot/chunk-0000/episode_0000926_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf31dc4abbe7ee22832ddbcef91e860252d9d65 --- /dev/null +++ b/cot/chunk-0000/episode_0000926_ecot.json @@ -0,0 +1,2751 @@ +{ + "task_name": "episode_0000926", + "episode_json": "json/chunk-0000/episode_0000926.json", + "video_path": "videos/chunk-0000/image_0/episode_0000926.mp4", + "instruction": "Fold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000926.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.9462436437606812, + "std": 0.44512003660202026, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94624, std=0.44512, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 114, + 138, + 138, + 138, + 138, + 138, + 138 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 13 + ], + [ + 3, + 14, + 37 + ], + [ + 4, + 38, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the bottom-right corner of the orange cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp cloth corner\", \"start\": 4, \"end\": 13, \"planning\": \"Close gripper to securely grasp the bottom-right corner of the cloth, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"fold cloth diagonally\", \"start\": 14, \"end\": 37, \"planning\": \"Lift and drag the grasped corner diagonally toward top-left while maintaining grip, folding the cloth over itself as seen in frame 37.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 38, \"end\": 43, \"planning\": \"Open gripper to release the folded cloth and retreat upward, completing the fold with no further manipulation.\"}\n ],\n \"global_plan\": \"Fold the orange cloth by grasping its bottom-right corner, dragging it diagonally to the top-left to create a diagonal fold, then releasing and retreating.\",\n \"notes\": \"Subtasks align with segment boundaries and gripper evidence: Segment 1 (no grasp), Segment 2 (grasp initiation), Segment 3 (fold motion with hold), Segment 4 (release). All frames covered contiguously.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the bottom-right corner of the orange cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp cloth corner", + "start": 4, + "end": 13, + "planning": "Close gripper to securely grasp the bottom-right corner of the cloth, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "fold cloth diagonally", + "start": 14, + "end": 37, + "planning": "Lift and drag the grasped corner diagonally toward top-left while maintaining grip, folding the cloth over itself as seen in frame 37." + }, + { + "id": 4, + "name": "release and retreat", + "start": 38, + "end": 43, + "planning": "Open gripper to release the folded cloth and retreat upward, completing the fold with no further manipulation." + } + ], + "global_plan": "Fold the orange cloth by grasping its bottom-right corner, dragging it diagonally to the top-left to create a diagonal fold, then releasing and retreating.", + "notes": "Subtasks align with segment boundaries and gripper evidence: Segment 1 (no grasp), Segment 2 (grasp initiation), Segment 3 (fold motion with hold), Segment 4 (release). All frames covered contiguously." + } + }, + "episode_goal": "Fold the cloth from bottom right to top left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.11917917430400848, + -0.01814858987927437, + 0.24468708038330078, + 3.104074478149414, + -0.12140578776597977, + 0.029957551509141922 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the orange cloth with the gripper open, approaching the bottom-right corner. No contact or grasp has occurred yet. The next action is to move the gripper closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 2 cm, move down 11 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.11845014989376068, + -0.017872527241706848, + 0.24256086349487305, + 3.105215549468994, + -0.12016846239566803, + 0.023825926706194878 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth spread out. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action is to continue moving the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 2 cm, move down 12 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.12690302729606628, + -0.004560421220958233, + 0.22501927614212036, + 3.1234049797058105, + -0.14613988995552063, + -0.03125135973095894 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth spread out. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action is to continue moving the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 3 cm, move down 12 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.13201963901519775, + 0.007585108280181885, + 0.20820359885692596, + 3.1073694229125977, + -0.18261639773845673, + -0.11400448530912399 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth spread out. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action is to continue moving the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 3 cm, move down 12 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.1358853131532669, + 0.014383002184331417, + 0.18333159387111664, + -3.1384365558624268, + -0.24895869195461273, + -0.22374482452869415 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth spread out. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action is to continue moving the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 13 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.14049915969371796, + 0.019522780552506447, + 0.16291964054107666, + -3.1276943683624268, + -0.281653493642807, + -0.3348649740219116 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato": [ + 360, + 708, + 540, + 929 + ], + "orange cloth": [ + 12, + 278, + 607, + 863 + ], + "table": [ + 4, + 212, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth spread out. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action is to continue moving the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.14445534348487854, + 0.021815497428178787, + 0.14220155775547028, + -3.075265884399414, + -0.3068726658821106, + -0.4314325153827667 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth spread out. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action is to continue moving the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move down 8 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1541900932788849, + 0.022420182824134827, + 0.13052354753017426, + -3.0340797901153564, + -0.30558478832244873, + -0.45442867279052734 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth spread out. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action is to continue moving the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 7 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.16734671592712402, + 0.024314742535352707, + 0.10620361566543579, + -2.9916977882385254, + -0.288911908864975, + -0.4623534083366394 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move forward 3 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18195299804210663, + 0.026059094816446304, + 0.08718041330575943, + -2.927046775817871, + -0.2726832628250122, + -0.475665807723999 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato": [ + 360, + 709, + 539, + 930 + ], + "table": [ + 4, + 208, + 995, + 995 + ], + "orange cloth": [ + 4, + 278, + 604, + 858 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 3 cm, close gripper; then move forward 4 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19307009875774384, + 0.03362390398979187, + 0.07402875274419785, + -2.885450601577759, + -0.24911220371723175, + -0.4833263158798218 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move forward 6 cm, move left 4 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19717735052108765, + 0.03675384446978569, + 0.06416482478380203, + -2.8860864639282227, + -0.22968262434005737, + -0.4925162196159363 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move forward 7 cm, move left 5 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19718338549137115, + 0.043228112161159515, + 0.060307152569293976, + -2.889300584793091, + -0.2212861180305481, + -0.48118874430656433 + ], + "gripper_value": 0.9545519351959229 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 8 cm, move left 7 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19877788424491882, + 0.04537610337138176, + 0.05842491611838341, + -2.8870937824249268, + -0.22494997084140778, + -0.475734680891037 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 9 cm, move left 9 cm, move up 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2011699080467224, + 0.04752731695771217, + 0.057944152504205704, + -2.886084794998169, + -0.25820568203926086, + -0.4476683437824249 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20250946283340454, + 0.04807385802268982, + 0.05670391023159027, + -2.8918323516845703, + -0.2676106095314026, + -0.4352785348892212 + ], + "gripper_value": 0.15515124797821045 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move up 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20131880044937134, + 0.04647284373641014, + 0.05844556912779808, + -2.9339394569396973, + -0.26671478152275085, + -0.4118037521839142 + ], + "gripper_value": 0.06591799855232239 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 12 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21258823573589325, + 0.048311617225408554, + 0.07990735024213791, + -2.981205463409424, + -0.2898423373699188, + -0.3629697561264038 + ], + "gripper_value": 0.05592256039381027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 13 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2302168905735016, + 0.05609283596277237, + 0.10339826345443726, + -3.02858567237854, + -0.27683600783348083, + -0.31359001994132996 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "tomato": [ + 357, + 702, + 539, + 930 + ], + "orange cloth": [ + 4, + 281, + 610, + 694 + ], + "table": [ + 4, + 223, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 13 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.24555686116218567, + 0.06821034848690033, + 0.115721695125103, + -3.0510573387145996, + -0.26441454887390137, + -0.2610607445240021 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 13 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26090043783187866, + 0.0844964012503624, + 0.1187569722533226, + -3.048203468322754, + -0.25204038619995117, + -0.21522602438926697 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 12 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2734656035900116, + 0.10187523066997528, + 0.11410725861787796, + -3.0554962158203125, + -0.22660483419895172, + -0.1911114752292633 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28192436695098877, + 0.1171872615814209, + 0.11722370237112045, + -3.031019926071167, + -0.22636668384075165, + -0.19191330671310425 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 9 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872699201107025, + 0.1328604817390442, + 0.12077183276414871, + -3.0106959342956543, + -0.22088652849197388, + -0.19877541065216064 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.298106849193573, + 0.1439267247915268, + 0.12692154943943024, + -3.0038013458251953, + -0.22415821254253387, + -0.20304128527641296 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot arm is positioned near the bottom-right corner of the orange cloth, having completed the approach phase. The gripper is currently open and hovering just above the target corner. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142852783203125, + 0.15914621949195862, + 0.12868709862232208, + -2.987090587615967, + -0.21320310235023499, + -0.20559164881706238 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32797932624816895, + 0.1700509786605835, + 0.12908464670181274, + -2.9602720737457275, + -0.2136339694261551, + -0.25960537791252136 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 4, + 222, + 601, + 598 + ], + "tomato": [ + 357, + 704, + 538, + 930 + ], + "table": [ + 4, + 231, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3385885953903198, + 0.18019039928913116, + 0.12887461483478546, + -2.949431896209717, + -0.2084171622991562, + -0.303072988986969 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3489539921283722, + 0.1892225742340088, + 0.12658151984214783, + -2.9511592388153076, + -0.19490812718868256, + -0.31282299757003784 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3592802584171295, + 0.19842292368412018, + 0.13022999465465546, + -2.9453516006469727, + -0.19128921627998352, + -0.3302365839481354 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3665006458759308, + 0.20506347715854645, + 0.13150183856487274, + -2.9561541080474854, + -0.1945052295923233, + -0.33575910329818726 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 1 cm, open gripper; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3713758587837219, + 0.21003291010856628, + 0.1388440728187561, + -2.950601100921631, + -0.20047131180763245, + -0.34409698843955994 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, open gripper; then move back 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.37443721294403076, + 0.21119263768196106, + 0.1389564573764801, + -2.9673309326171875, + -0.19414648413658142, + -0.3467799127101898 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, open gripper; then move back 3 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3791090250015259, + 0.21434088051319122, + 0.1406581997871399, + -2.973588705062866, + -0.1827813982963562, + -0.35476356744766235 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, open gripper; then move back 5 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.38586390018463135, + 0.21932531893253326, + 0.13779333233833313, + -2.9675357341766357, + -0.16110824048519135, + -0.365744948387146 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. 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The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.39021337032318115, + 0.22211764752864838, + 0.13467922806739807, + -2.9549946784973145, + -0.14834707975387573, + -0.3663701117038727 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. 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The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3929939866065979, + 0.22794704139232635, + 0.12489686906337738, + -2.9468674659729004, + -0.11959157884120941, + -0.36384809017181396 + ], + "gripper_value": 0.2306915670633316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. 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The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 5 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3957262635231018, + 0.22947406768798828, + 0.12614643573760986, + -2.935020923614502, + -0.12653525173664093, + -0.3745231330394745 + ], + "gripper_value": 0.4946928322315216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "fold cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. 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The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 5 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984556496143341, + 0.23122626543045044, + 0.12623204290866852, + -2.9166460037231445, + -0.13788391649723053, + -0.3824080228805542 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. 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The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3977298438549042, + 0.22972047328948975, + 0.11914344131946564, + -2.924607038497925, + -0.14048783481121063, + -0.37851980328559875 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot has grasped the bottom-right corner of the orange cloth and is currently dragging it diagonally toward the top-left. The gripper remains closed with minimal motion variation, indicating active transport. The next action is to continue moving the cloth corner to complete the diagonal fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 6 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.39353859424591064, + 0.22365938127040863, + 0.11737972497940063, + -2.9328949451446533, + -0.15550120174884796, + -0.3774386942386627 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded diagonally from bottom right to top left, and the gripper is now open and retreating. The fold is complete, and the robot is moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 9 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3853169083595276, + 0.21159447729587555, + 0.14189475774765015, + -2.9268200397491455, + -0.20972934365272522, + -0.39214345812797546 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded diagonally from bottom right to top left, and the gripper is now open and retreating. The fold is complete, and the robot is moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.36985012888908386, + 0.18926753103733063, + 0.17661091685295105, + -2.9308934211730957, + -0.29969367384910583, + -0.42847540974617004 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 4, + 189, + 577, + 503 + ], + "tomato": [ + 357, + 703, + 539, + 930 + ] + } + } + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded diagonally from bottom right to top left, and the gripper is now open and retreating. The fold is complete, and the robot is moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3454350233078003, + 0.1738855242729187, + 0.20529481768608093, + -2.9476606845855713, + -0.3654216527938843, + -0.4363482594490051 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the cloth from bottom right to top left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "fold cloth diagonally" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been folded diagonally from bottom right to top left, and the gripper is now open and retreating. The fold is complete, and the robot is moving away to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000927_ecot.json b/cot/chunk-0000/episode_0000927_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5a33115069c7082363297519fb2f22d934482945 --- /dev/null +++ b/cot/chunk-0000/episode_0000927_ecot.json @@ -0,0 +1,4529 @@ +{ + "task_name": "episode_0000927", + "episode_json": "json/chunk-0000/episode_0000927.json", + "video_path": "videos/chunk-0000/image_0/episode_0000927.mp4", + "instruction": "Put pan on stove and put blueberry in pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 60, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000927.json" + }, + "fps": 5.0, + "T_eff": 60, + "gripper_behavior_summary": { + "available": true, + "range": 0.9644699096679688, + "std": 0.390190452337265, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.96447, std=0.39019, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 209, + 309, + 309, + 309, + 309, + 309, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 326, + 526, + 326, + 526, + 526, + 526, + 526, + 526, + 526, + 526, + 526, + 526, + 526, + 426, + 426, + 626, + 626, + 626, + 626, + 626, + 426, + 426, + 426, + 426, + 426, + 426, + 426 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 8 + ], + [ + 3, + 9, + 11 + ], + [ + 4, + 12, + 20 + ], + [ + 5, + 21, + 25 + ], + [ + 6, + 26, + 33 + ], + [ + 7, + 34, + 34 + ], + [ + 8, + 35, + 35 + ], + [ + 9, + 36, + 45 + ], + [ + 10, + 46, + 47 + ], + [ + 11, + 48, + 52 + ], + [ + 12, + 53, + 59 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the pan on the stove without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"reposition pan\", \"start\": 9, \"end\": 20, \"planning\": \"Make contact with pan and slide it into desired position on burner; no grasp occurs as gripper stays open.\"},\n {\"id\": 3, \"name\": \"grasp and lift pan\", \"start\": 21, \"end\": 25, \"planning\": \"Gripper closes meaningfully (range=0.43754) while lifting pan slightly off burner — consistent with grasp and hold.\"},\n {\"id\": 4, \"name\": \"place pan on burner\", \"start\": 26, \"end\": 34, \"planning\": \"Lower pan onto target burner and release contact; gripper opens fully by frame 34.\"},\n {\"id\": 5, \"name\": \"retreat and reorient\", \"start\": 35, \"end\": 45, \"planning\": \"Retract arm and rotate to face blueberry container; gripper remains open throughout.\"},\n {\"id\": 6, \"name\": \"approach blueberry\", \"start\": 46, \"end\": 52, \"planning\": \"Move toward blueberry object; gripper begins closing in preparation for grasp.\"},\n {\"id\": 7, \"name\": \"grasp and drop blueberry\", \"start\": 53, \"end\": 59, \"planning\": \"Gripper closes (range=0.26275), lifts blueberry, then releases it into pan — confirmed by final image showing blueberry inside pan.\"}\n ],\n \"global_plan\": \"First reposition the pan on the stove via sliding, then lift and precisely place it on the correct burner. After retreating, approach the blueberry, grasp it, and drop it into the pan.\",\n \"notes\": \"Subtask boundaries respect segment spans and gripper evidence: no grasp is claimed where gripper range=0. Grasp actions are only assigned where segment-level gripper closure is meaningful and visually supported. Full coverage from frame 0 to 59 ensured.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the pan on the stove without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "reposition pan", + "start": 9, + "end": 20, + "planning": "Make contact with pan and slide it into desired position on burner; no grasp occurs as gripper stays open." + }, + { + "id": 3, + "name": "grasp and lift pan", + "start": 21, + "end": 25, + "planning": "Gripper closes meaningfully (range=0.43754) while lifting pan slightly off burner — consistent with grasp and hold." + }, + { + "id": 4, + "name": "place pan on burner", + "start": 26, + "end": 34, + "planning": "Lower pan onto target burner and release contact; gripper opens fully by frame 34." + }, + { + "id": 5, + "name": "retreat and reorient", + "start": 35, + "end": 45, + "planning": "Retract arm and rotate to face blueberry container; gripper remains open throughout." + }, + { + "id": 6, + "name": "approach blueberry", + "start": 46, + "end": 52, + "planning": "Move toward blueberry object; gripper begins closing in preparation for grasp." + }, + { + "id": 7, + "name": "grasp and drop blueberry", + "start": 53, + "end": 59, + "planning": "Gripper closes (range=0.26275), lifts blueberry, then releases it into pan — confirmed by final image showing blueberry inside pan." + } + ], + "global_plan": "First reposition the pan on the stove via sliding, then lift and precisely place it on the correct burner. After retreating, approach the blueberry, grasp it, and drop it into the pan.", + "notes": "Subtask boundaries respect segment spans and gripper evidence: no grasp is claimed where gripper range=0. Grasp actions are only assigned where segment-level gripper closure is meaningful and visually supported. Full coverage from frame 0 to 59 ensured." + } + }, + "episode_goal": "Place the pan on the stove burner and drop the blueberry into the pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34134641289711, + -0.025455540046095848, + 0.14199815690517426, + -3.1218371391296387, + -0.1931995451450348, + -0.09129627048969269 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove, with the pan visible on the right burner and a blueberry on the counter to the left. No actions have been completed yet. The robot is currently approaching the pan to begin repositioning it. The next likely action is to move the end-effector closer to the pan for grasping or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 9 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33940860629081726, + -0.025525962933897972, + 0.12980158627033234, + -3.123650074005127, + -0.16099806129932404, + -0.09073038399219513 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove, with the pan visible on the right burner and a blueberry on the counter to the left. No actions have been completed yet. The robot is currently approaching the pan to begin repositioning it. The next likely action is to move the end-effector closer to the pan for grasping or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 8 cm, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3433891832828522, + -0.027150806039571762, + 0.10698091983795166, + -3.1336922645568848, + -0.19013039767742157, + -0.09553810209035873 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove, with the pan visible on the right burner and a blueberry on the counter to the left. No actions have been completed yet. The robot is currently approaching the pan to begin repositioning it. The next likely action is to move the end-effector closer to the pan for grasping or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 6 cm, close gripper; then move back 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470017910003662, + -0.027053968980908394, + 0.08836989104747772, + -3.1384103298187256, + -0.21474988758563995, + -0.10304707288742065 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove, with the pan visible on the right burner and a blueberry on the counter to the left. No actions have been completed yet. The robot is currently approaching the pan to begin repositioning it. The next likely action is to move the end-effector closer to the pan for grasping or sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, close gripper; then move back 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3496439456939697, + -0.027548382058739662, + 0.07140401750802994, + 3.1287713050842285, + -0.2446890026330948, + -0.10377608239650726 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, close gripper; then move back 2 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3516886830329895, + -0.026168886572122574, + 0.06276366114616394, + 3.1184661388397217, + -0.2719694972038269, + -0.10462893545627594 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "oven door": [ + 281, + 699, + 682, + 994 + ], + "blue toy item": [ + 259, + 361, + 362, + 493 + ], + "pot": [ + 659, + 253, + 909, + 543 + ], + "faucet": [ + 141, + 4, + 269, + 177 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move back 2 cm, move left 1 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536488115787506, + -0.02380242384970188, + 0.05186079815030098, + 3.1159281730651855, + -0.28864142298698425, + -0.11194978654384613 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 2 cm, move left 3 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35603222250938416, + -0.022547516971826553, + 0.041998252272605896, + 3.1049139499664307, + -0.2776050269603729, + -0.12056833505630493 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 1 cm, move left 6 cm, move up 11 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3626364767551422, + -0.02244853600859642, + 0.04602260887622833, + 3.100823402404785, + -0.27835047245025635, + -0.12024380266666412 + ], + "gripper_value": 0.6591242551803589 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 2 cm, move left 8 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.36202874779701233, + -0.021552477031946182, + 0.05134013295173645, + 3.1050589084625244, + -0.24438181519508362, + -0.11345767229795456 + ], + "gripper_value": 0.34697994589805603 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35982492566108704, + -0.020917078480124474, + 0.06134989485144615, + 3.113898277282715, + -0.18577620387077332, + -0.11421052366495132 + ], + "gripper_value": 0.13294655084609985 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 10 cm, move up 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3584200143814087, + -0.020752662792801857, + 0.08637876808643341, + 3.129581928253174, + -0.15789322555065155, + -0.11948700994253159 + ], + "gripper_value": 0.054572440683841705 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35296663641929626, + -0.02192019298672676, + 0.11000635474920273, + -3.114020824432373, + -0.09853607416152954, + -0.12363071739673615 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move up 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.34745848178863525, + -0.022172842174768448, + 0.13464467227458954, + -3.0909066200256348, + -0.05534055829048157, + -0.1212022453546524 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan already on the right burner and a blueberry on the left side of the stove. The current subtask 'approach pan' appears completed as the end-effector is near the pan, but no grasping has occurred yet. The next likely action is to retreat from the pan and approach the blueberry to begin the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 11 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34257441759109497, + -0.020892547443509102, + 0.14730827510356903, + -3.086055040359497, + -0.026653466746211052, + -0.13676336407661438 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 11 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406775891780853, + -0.006987289059907198, + 0.14720763266086578, + -3.09202241897583, + -0.008174956776201725, + -0.16232837736606598 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 3 cm, tilt back 10 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3422921895980835, + 0.012850907631218433, + 0.14941410720348358, + -3.1029958724975586, + -0.01572340726852417, + -0.17975610494613647 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471396863460541, + 0.03617847338318825, + 0.1575394570827484, + -3.1036970615386963, + -0.04798412322998047, + -0.1962965577840805 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toy item": [ + 259, + 361, + 361, + 492 + ], + "faucet": [ + 142, + 3, + 274, + 177 + ], + "oven door": [ + 277, + 696, + 679, + 993 + ], + "pot": [ + 487, + 10, + 749, + 355 + ], + "stovetop": [ + 210, + 181, + 965, + 917 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 4 cm, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34629732370376587, + 0.05408700928092003, + 0.15478022396564484, + -3.1120972633361816, + -0.04154215380549431, + -0.199177086353302 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492355942726135, + 0.06874284148216248, + 0.1512245088815689, + -3.1143009662628174, + -0.07509829103946686, + -0.20877593755722046 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35317468643188477, + 0.07859650999307632, + 0.1341841220855713, + -3.136640787124634, + -0.08607717603445053, + -0.20983129739761353 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "reposition pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3583804666996002, + 0.0863657295703888, + 0.1195858046412468, + 3.129586696624756, + -0.1012616977095604, + -0.20916612446308136 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "oven door": [ + 277, + 695, + 679, + 994 + ], + "blue toy item": [ + 259, + 361, + 361, + 492 + ], + "faucet": [ + 143, + 4, + 274, + 176 + ], + "pot": [ + 408, + 30, + 646, + 356 + ], + "stovetop": [ + 212, + 230, + 961, + 915 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, open gripper; then move back 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618152141571045, + 0.0899098813533783, + 0.11013425141572952, + 3.1184797286987305, + -0.11349029839038849, + -0.2069341391324997 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The pan is currently being held above the stove burner, indicating the approach phase is complete. The gripper is closed, consistent with holding the pan. The next action is to lower and place the pan onto the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 5 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3650757670402527, + 0.09495187550783157, + 0.09683563560247421, + 3.1115615367889404, + -0.12004408985376358, + -0.21698656678199768 + ], + "gripper_value": 0.07050029188394547 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 6 cm, move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657337427139282, + 0.0959470123052597, + 0.09396450221538544, + 3.1125996112823486, + -0.13176672160625458, + -0.2263709455728531 + ], + "gripper_value": 0.22108687460422516 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 7 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35810235142707825, + 0.09397275745868683, + 0.09161533415317535, + 3.0875425338745117, + -0.09207504242658615, + -0.2149791568517685 + ], + "gripper_value": 0.4889543354511261 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and lift pan", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 8 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.351114422082901, + 0.08651462942361832, + 0.0983671322464943, + 3.0830886363983154, + -0.050683245062828064, + -0.20600906014442444 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.34514570236206055, + 0.08147209137678146, + 0.11547558754682541, + 3.1165924072265625, + -0.026076143607497215, + -0.20798388123512268 + ], + "gripper_value": 1.0156210660934448 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34557193517684937, + 0.08045224100351334, + 0.11730434745550156, + 3.117828369140625, + -0.028773294761776924, + -0.2081242948770523 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move left 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453529477119446, + 0.07983749359846115, + 0.11747399717569351, + 3.117828369140625, + -0.028773296624422073, + -0.20965828001499176 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move left 3 cm, move down 3 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34536269307136536, + 0.07983990758657455, + 0.11693031340837479, + 3.1172001361846924, + -0.0274308193475008, + -0.21117356419563293 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32892873883247375, + 0.08245689421892166, + 0.13026224076747894, + 3.100735664367676, + -0.07830548286437988, + -0.1897481083869934 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move left 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3038012981414795, + 0.09103893488645554, + 0.13241270184516907, + 3.132089614868164, + -0.12886230647563934, + -0.15777194499969482 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move left 3 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.28926175832748413, + 0.09425383806228638, + 0.12458974868059158, + -3.134922742843628, + -0.17763343453407288, + -0.14137865602970123 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.27940094470977783, + 0.09459510445594788, + 0.10829515755176544, + -3.1292617321014404, + -0.21469619870185852, + -0.1400604546070099 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "place pan on burner", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2731102705001831, + 0.09059832245111465, + 0.08991020172834396, + 3.1391384601593018, + -0.24644650518894196, + -0.14156116545200348 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2716570198535919, + 0.09254367649555206, + 0.08073151111602783, + -3.1358261108398438, + -0.2888088822364807, + -0.16217462718486786 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2694475054740906, + 0.10056688636541367, + 0.07305575907230377, + -3.1210293769836426, + -0.3486100435256958, + -0.19255059957504272 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26909998059272766, + 0.10944775491952896, + 0.0686279758810997, + -3.1032676696777344, + -0.39050713181495667, + -0.20472994446754456 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toy item": [ + 259, + 361, + 363, + 491 + ], + "pot": [ + 408, + 150, + 632, + 403 + ], + "oven door": [ + 283, + 697, + 684, + 994 + ], + "burner grates": [ + 629, + 303, + 920, + 606 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.27077409625053406, + 0.11704929172992706, + 0.0626114085316658, + -3.093616008758545, + -0.4093017578125, + -0.20862039923667908 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is currently held above the stove burner, indicating the grasp and lift phase is complete. The next action is to lower and place the pan onto the burner to finalize its positioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27119180560112, + 0.12051369249820709, + 0.05211878567934036, + -3.1077725887298584, + -0.40382441878318787, + -0.19801250100135803 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.27052441239356995, + 0.12246593087911606, + 0.04781382903456688, + -3.0939266681671143, + -0.40206894278526306, + -0.19396798312664032 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, tilt forward 10 degrees, close gripper; then move forward 4 cm, move right 3 cm, move up 10 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707807421684265, + 0.12147968262434006, + 0.04196149483323097, + -3.104098320007324, + -0.39183637499809265, + -0.17912806570529938 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, close gripper; then move forward 5 cm, move right 5 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678609788417816, + 0.11610937863588333, + 0.03668220713734627, + -3.1161582469940186, + -0.37750813364982605, + -0.15677937865257263 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt forward 10 degrees, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 10 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2667641043663025, + 0.11379359662532806, + 0.03222599998116493, + -3.1272358894348145, + -0.3695361018180847, + -0.14252930879592896 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 7 cm, move right 6 cm, move up 10 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2648204267024994, + 0.10968192666769028, + 0.031763795763254166, + -3.1412765979766846, + -0.33659833669662476, + -0.13669508695602417 + ], + "gripper_value": 0.7535749077796936 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "retreat and reorient", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 7 cm, move right 6 cm, move up 10 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 45 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 45 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2651546597480774, + 0.10686172544956207, + 0.0359872467815876, + 3.1282432079315186, + -0.2901005744934082, + -0.1292443722486496 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move up 10 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.26777657866477966, + 0.10521382093429565, + 0.043517813086509705, + 3.1214334964752197, + -0.24694064259529114, + -0.13135398924350739 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 6 cm, move up 9 cm, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.27316272258758545, + 0.10656735301017761, + 0.06779783964157104, + -3.1290485858917236, + -0.2370181381702423, + -0.1419137567281723 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toy item": [ + 266, + 319, + 355, + 440 + ], + "oven door": [ + 286, + 696, + 685, + 994 + ], + "pot": [ + 407, + 150, + 631, + 401 + ], + "burner grates": [ + 630, + 306, + 918, + 603 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is successfully placed on the stove burner, and the robot arm is positioned above it with the gripper open. The current subtask involves retreating and reorienting the arm to prepare for the next step. The most likely next action is to move the arm away from the stove to approach the blueberry." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move up 6 cm, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.2794663906097412, + 0.10453946888446808, + 0.09118127077817917, + -3.1177847385406494, + -0.19703546166419983, + -0.1518428772687912 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is successfully positioned on the stove burner. The robot arm is currently hovering above the stove area with an open gripper, having completed the pan placement phase. The next action is to move the arm away from the stove and towards the blueberry's location to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 6 cm, move up 4 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 46, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.29052668809890747, + 0.09267666190862656, + 0.1144905537366867, + -3.1038260459899902, + -0.182350754737854, + -0.1553938388824463 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is successfully positioned on the stove burner. The robot arm is currently hovering above the stove area with an open gripper, having completed the pan placement phase. The next action is to move the arm away from the stove and towards the blueberry's location to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 2 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.30403050780296326, + 0.07541177421808243, + 0.13376064598560333, + -3.120260000228882, + -0.19942957162857056, + -0.16429612040519714 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 406, + 151, + 631, + 403 + ], + "oven door": [ + 285, + 697, + 685, + 994 + ], + "stovetop": [ + 219, + 233, + 962, + 917 + ] + } + } + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is successfully positioned on the stove burner. The robot arm is currently hovering above the stove area with an open gripper, having completed the pan placement phase. The next action is to move the arm away from the stove and towards the blueberry's location to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3183656632900238, + 0.05980560556054115, + 0.13877607882022858, + -3.1405231952667236, + -0.22231312096118927, + -0.1707642823457718 + ], + "gripper_value": 0.7525970935821533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "approach blueberry", + "subtask_reasoning": "The pan is successfully positioned on the stove burner. The robot arm is currently hovering above the stove area with an open gripper, having completed the pan placement phase. The next action is to move the arm away from the stove and towards the blueberry's location to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 46, + "end": 52 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.33430102467536926, + 0.04742567241191864, + 0.1311894655227661, + 3.1247479915618896, + -0.23937195539474487, + -0.18232527375221252 + ], + "gripper_value": 0.7516188621520996 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and drop blueberry", + "subtask_reasoning": "The pan is successfully positioned on the stove burner. The robot arm is currently hovering above the stove area with an open gripper, having completed the pan placement phase. The next action is to move the arm away from the stove and towards the blueberry's location to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 59 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.34625184535980225, + 0.04105152562260628, + 0.12344906479120255, + 3.11474871635437, + -0.266397088766098, + -0.18991385400295258 + ], + "gripper_value": 0.8045819997787476 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and drop blueberry", + "subtask_reasoning": "The pan is successfully positioned on the stove burner. The robot arm is currently hovering above the stove area with an open gripper, having completed the pan placement phase. The next action is to move the arm away from the stove and towards the blueberry's location to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 59 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.35320642590522766, + 0.039530061185359955, + 0.12471212446689606, + 3.1258668899536133, + -0.2895382344722748, + -0.2063550353050232 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and drop blueberry", + "subtask_reasoning": "The pan is successfully positioned on the stove burner. The robot arm is currently hovering above the stove area with an open gripper, having completed the pan placement phase. The next action is to move the arm away from the stove and towards the blueberry's location to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 49 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 59 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543263375759125, + 0.03658391907811165, + 0.12590906023979187, + 3.125164747238159, + -0.2917466163635254, + -0.2057468295097351 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and drop blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner with a blueberry inside. The gripper is open and hovering above the pan, indicating the blueberry has been successfully dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 53, + "end": 59 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.3553750514984131, + 0.03254071995615959, + 0.12623314559459686, + 3.1324596405029297, + -0.29115214943885803, + -0.20502260327339172 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and drop blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner with a blueberry inside. The gripper is open and hovering above the pan, indicating the blueberry has been successfully dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 59 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.35393401980400085, + 0.029365185648202896, + 0.12515392899513245, + -3.1151692867279053, + -0.2652905583381653, + -0.19198913872241974 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and drop blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner with a blueberry inside. The gripper is open and hovering above the pan, indicating the blueberry has been successfully dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 59 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.34701722860336304, + 0.023712221533060074, + 0.13021737337112427, + -3.0978455543518066, + -0.2330521196126938, + -0.18985189497470856 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the pan on the stove burner and drop the blueberry into the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "reposition pan" + }, + { + "id": 3, + "subtask": "grasp and lift pan" + }, + { + "id": 4, + "subtask": "place pan on burner" + }, + { + "id": 5, + "subtask": "retreat and reorient" + }, + { + "id": 6, + "subtask": "approach blueberry" + }, + { + "id": 7, + "subtask": "grasp and drop blueberry" + } + ], + "subtask_name": "grasp and drop blueberry", + "subtask_reasoning": "The pan is already positioned on the stove burner with a blueberry inside. The gripper is open and hovering above the pan, indicating the blueberry has been successfully dropped. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 59 + }, + "cache_ref": { + "anchor_ref_reasoning": 56 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 53, + "end": 59 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000929_ecot.json b/cot/chunk-0000/episode_0000929_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..81c55da3a28efe8d7d78e880e11278a6d69f1b47 --- /dev/null +++ b/cot/chunk-0000/episode_0000929_ecot.json @@ -0,0 +1,3019 @@ +{ + "task_name": "episode_0000929", + "episode_json": "json/chunk-0000/episode_0000929.json", + "video_path": "videos/chunk-0000/image_0/episode_0000929.mp4", + "instruction": "Move the white block on middle of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000929.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.7043118476867676, + "std": 0.32120656967163086, + "delta_total": -0.6415845155715942, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.70431, std=0.32121, total_delta=-0.64158). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 330, + 330, + 330, + 330, + 330, + 330, + 330, + 330, + 130, + 130, + 130, + 230, + 230, + 230, + 230 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 29 + ], + [ + 3, + 30, + 37 + ], + [ + 4, + 38, + 40 + ], + [ + 5, + 41, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach white block\", \"start\": 0, \"end\": 15, \"planning\": \"Move the end-effector from initial position toward the white block on the table without grasping.\"},\n {\"id\": 2, \"name\": \"grasp white block\", \"start\": 16, \"end\": 29, \"planning\": \"Close gripper around the white block and secure it for manipulation, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition block\", \"start\": 30, \"end\": 37, \"planning\": \"Lift the grasped white block slightly and begin moving it toward the center of the table.\"},\n {\"id\": 4, \"name\": \"place block at target\", \"start\": 38, \"end\": 40, \"planning\": \"Position the block over the target location in the middle of the table while maintaining grip; no release yet.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 41, \"end\": 44, \"planning\": \"Open gripper to release the block at the target location and begin retreating upward, completing the placement.\"}\n ],\n \"global_plan\": \"Approach the white block, grasp it securely, lift and move it to the center of the table, place it precisely, then release and retreat.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has clear gripper closure and visual confirmation of grasp. Segments 3–5 reflect continuous motion with controlled placement and release, consistent with gripper state changes and end-effector trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach white block", + "start": 0, + "end": 15, + "planning": "Move the end-effector from initial position toward the white block on the table without grasping." + }, + { + "id": 2, + "name": "grasp white block", + "start": 16, + "end": 29, + "planning": "Close gripper around the white block and secure it for manipulation, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition block", + "start": 30, + "end": 37, + "planning": "Lift the grasped white block slightly and begin moving it toward the center of the table." + }, + { + "id": 4, + "name": "place block at target", + "start": 38, + "end": 40, + "planning": "Position the block over the target location in the middle of the table while maintaining grip; no release yet." + }, + { + "id": 5, + "name": "release and retreat", + "start": 41, + "end": 44, + "planning": "Open gripper to release the block at the target location and begin retreating upward, completing the placement." + } + ], + "global_plan": "Approach the white block, grasp it securely, lift and move it to the center of the table, place it precisely, then release and retreat.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 has clear gripper closure and visual confirmation of grasp. Segments 3–5 reflect continuous motion with controlled placement and release, consistent with gripper state changes and end-effector trajectory." + } + }, + "episode_goal": "Move the white block to the middle of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2789551019668579, + 0.15161699056625366, + 0.14036066830158234, + -3.0088255405426025, + -0.16180238127708435, + -0.14719629287719727 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is positioned above the table with the white block visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772018611431122, + 0.15098200738430023, + 0.1319923847913742, + -3.0277888774871826, + -0.13943791389465332, + -0.14086711406707764 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is positioned above the table with the white block visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 8 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2806631922721863, + 0.1491975635290146, + 0.1379786878824234, + -3.0469112396240234, + -0.15695932507514954, + -0.12623721361160278 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is positioned above the table with the white block visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28828394412994385, + 0.15436464548110962, + 0.1510465443134308, + -3.04309344291687, + -0.19937415421009064, + -0.10669534653425217 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 3, + 5, + 996, + 994 + ], + "red hexagonal prism": [ + 219, + 240, + 324, + 385 + ], + "blue cube": [ + 184, + 5, + 297, + 217 + ] + } + } + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is positioned above the table with the white block visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 12 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2934073507785797, + 0.1559775024652481, + 0.1681995689868927, + -3.028102397918701, + -0.24131843447685242, + -0.10112699121236801 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is positioned above the table with the white block visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29773643612861633, + 0.15830481052398682, + 0.1843806803226471, + -3.015360116958618, + -0.27074775099754333, + -0.08348021656274796 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is positioned above the table with the white block visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 15 cm, move down 9 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29590556025505066, + 0.1550186723470688, + 0.20451490581035614, + -3.0015015602111816, + -0.27411192655563354, + 0.03515056148171425 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is positioned above the table with the white block visible in the lower right. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 17 cm, move down 12 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2953777611255646, + 0.12387055158615112, + 0.21974673867225647, + -3.0268971920013428, + -0.26274359226226807, + 0.12065979838371277 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 14 cm, move down 13 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2965281903743744, + 0.09741555899381638, + 0.2196931540966034, + -3.0556533336639404, + -0.22888922691345215, + 0.13021816313266754 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move down 13 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3027510643005371, + 0.07602304220199585, + 0.21490654349327087, + -3.0707545280456543, + -0.2298404574394226, + 0.10547634214162827 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 9 cm, move down 13 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31280481815338135, + 0.06975696235895157, + 0.19422930479049683, + -3.092838764190674, + -0.21899090707302094, + 0.11092039942741394 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 8 cm, move down 11 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 1 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32077717781066895, + 0.06688147038221359, + 0.1694519817829132, + -3.122171401977539, + -0.2108098715543747, + 0.1129937693476677 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 8 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31859299540519714, + 0.05606239661574364, + 0.14941184222698212, + -3.126591682434082, + -0.1896338164806366, + 0.08802761137485504 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 7 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30505022406578064, + 0.037770479917526245, + 0.12252416461706161, + -3.1240079402923584, + -0.13248811662197113, + 0.038815923035144806 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28632447123527527, + 0.021018270403146744, + 0.09969937056303024, + -3.1169822216033936, + -0.07670619338750839, + -0.012127071619033813 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 7 cm, move down 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26631832122802734, + 0.0037360747810453176, + 0.09418138861656189, + -3.121138334274292, + -0.07256051152944565, + -0.058637604117393494 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2456471174955368, + -0.014924334362149239, + 0.08527396619319916, + 3.130904197692871, + -0.053455594927072525, + -0.143766850233078 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2362251579761505, + -0.030962111428380013, + 0.08373058587312698, + 3.088968515396118, + -0.06771761924028397, + -0.2775222063064575 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 3, + 5, + 996, + 994 + ], + "blue cube": [ + 186, + 5, + 299, + 218 + ], + "red hexagonal prism": [ + 218, + 238, + 325, + 384 + ], + "white triangular prism": [ + 657, + 362, + 732, + 570 + ] + } + } + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23487597703933716, + -0.04422564059495926, + 0.08434911072254181, + 3.071526050567627, + -0.07778952270746231, + -0.36588582396507263 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 5 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23744533956050873, + -0.05637356638908386, + 0.085403211414814, + 3.052385091781616, + -0.0998314693570137, + -0.4731573462486267 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24038106203079224, + -0.06299592554569244, + 0.08380133658647537, + 3.0319738388061523, + -0.13326619565486908, + -0.5496581196784973 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.24157069623470306, + -0.0694621279835701, + 0.08424624800682068, + 3.0151891708374023, + -0.16823387145996094, + -0.6113312840461731 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot is approaching the white block on the table, with no prior actions completed. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the white block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23464903235435486, + -0.07629838585853577, + 0.07752639800310135, + 3.02752947807312, + -0.15880651772022247, + -0.6599539518356323 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23073118925094604, + -0.07981471717357635, + 0.07232111692428589, + 3.031327724456787, + -0.16020554304122925, + -0.6692417860031128 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, close gripper; then move forward 4 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2291002720594406, + -0.08389268070459366, + 0.06755079329013824, + 3.047262668609619, + -0.17127841711044312, + -0.6880949139595032 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move forward 6 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.22940319776535034, + -0.08390351384878159, + 0.05857456848025322, + 3.059375762939453, + -0.16470208764076233, + -0.6891700625419617 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then move forward 8 cm, move left 5 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23239585757255554, + -0.08462514728307724, + 0.051094893366098404, + 3.0639894008636475, + -0.16010525822639465, + -0.6803516745567322 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cube": [ + 183, + 4, + 296, + 221 + ], + "table": [ + 4, + 4, + 995, + 994 + ], + "white cylinder": [ + 621, + 707, + 750, + 973 + ], + "red hexagonal prism": [ + 219, + 253, + 324, + 385 + ] + } + } + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move forward 9 cm, move left 7 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23491734266281128, + -0.08726635575294495, + 0.043054889887571335, + 3.0702993869781494, + -0.15434624254703522, + -0.6785634756088257 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 10 cm, move left 9 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2353237420320511, + -0.0901716873049736, + 0.03553960099816322, + 3.0711798667907715, + -0.14829137921333313, + -0.6759278178215027 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move left 12 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23691214621067047, + -0.09238605946302414, + 0.0321977362036705, + 3.076864004135132, + -0.14980189502239227, + -0.6693964004516602 + ], + "gripper_value": 0.6671556830406189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp white block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 10 cm, move left 12 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move left 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23549006879329681, + -0.09142103046178818, + 0.030758270993828773, + 3.0823280811309814, + -0.14655302464962006, + -0.6568061709403992 + ], + "gripper_value": 0.4247366487979889 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23599010705947876, + -0.09136435389518738, + 0.032689955085515976, + 3.0802507400512695, + -0.14656658470630646, + -0.6484975218772888 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 12 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.24705301225185394, + -0.09053594619035721, + 0.04783400148153305, + 3.0619287490844727, + -0.17905031144618988, + -0.5971330404281616 + ], + "gripper_value": 0.30417895317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white block on the table, having completed the approach phase. Although the gripper is currently open, the segment-level evidence indicates a closing action is occurring within this timeframe. The next immediate action is to close the gripper fingers to securely grasp the white block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 12 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.27123427391052246, + -0.07820415496826172, + 0.07168803364038467, + 3.067750930786133, + -0.22650782763957977, + -0.515284538269043 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 994 + ], + "red hexagonal prism": [ + 218, + 238, + 325, + 384 + ], + "blue cube": [ + 183, + 4, + 300, + 218 + ] + } + } + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot has successfully grasped the white block and is currently lifting it above the table surface. The gripper is closed, and the block is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the arm horizontally to position the block over the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 11 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29261651635169983, + -0.06417535990476608, + 0.09229544550180435, + 3.0771188735961914, + -0.26507094502449036, + -0.44015517830848694 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot has successfully grasped the white block and is currently lifting it above the table surface. The gripper is closed, and the block is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the arm horizontally to position the block over the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 9 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.31053298711776733, + -0.043689973652362823, + 0.10121285915374756, + 3.0897300243377686, + -0.2728760540485382, + -0.3477395176887512 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot has successfully grasped the white block and is currently lifting it above the table surface. The gripper is closed, and the block is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the arm horizontally to position the block over the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3259047269821167, + -0.02629237063229084, + 0.10376081615686417, + 3.0916826725006104, + -0.26649218797683716, + -0.24815237522125244 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 4, + 4, + 995, + 994 + ], + "red hexagonal prism": [ + 219, + 238, + 325, + 385 + ], + "blue cube": [ + 183, + 4, + 298, + 217 + ] + } + } + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot has successfully grasped the white block and is currently lifting it above the table surface. The gripper is closed, and the block is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the arm horizontally to position the block over the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.33870843052864075, + -0.0009067654027603567, + 0.10278350114822388, + 3.1102819442749023, + -0.2558349370956421, + -0.11763425171375275 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition block", + "subtask_reasoning": "The robot has successfully grasped the white block and is currently lifting it above the table surface. The gripper is closed, and the block is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the arm horizontally to position the block over the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 30, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.33991843461990356, + 0.027832234278321266, + 0.09364420175552368, + -3.140469551086426, + -0.23377364873886108, + 0.0165370162576437 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place block at target", + "subtask_reasoning": "The robot has successfully grasped the white block and is currently lifting it above the table surface. The gripper is closed, and the block is suspended in mid-air, indicating the lifting phase is underway. The next action is to translate the arm horizontally to position the block over the center of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.3417991101741791, + 0.05055082589387894, + 0.0911862924695015, + -3.1106326580047607, + -0.2307213842868805, + 0.13861972093582153 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place block at target", + "subtask_reasoning": "The white block is currently held by the gripper above the table, positioned near the target center location. The gripper has remained open throughout this segment, indicating no active placement motion yet. The next action should involve lowering the block to the table surface and releasing it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.33712038397789, + 0.06420472264289856, + 0.0800483450293541, + -3.1242945194244385, + -0.18832193315029144, + 0.22039829194545746 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place block at target", + "subtask_reasoning": "The white block is currently held by the gripper above the table, positioned near the target center location. The gripper has remained open throughout this segment, indicating no active placement motion yet. The next action should involve lowering the block to the table surface and releasing it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.329328715801239, + 0.07074727863073349, + 0.06804154068231583, + 3.0974204540252686, + -0.14469535648822784, + 0.30530232191085815 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white block is currently held by the gripper above the table, positioned near the target center location. The gripper has remained open throughout this segment, indicating no active placement motion yet. The next action should involve lowering the block to the table surface and releasing it at the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.32198911905288696, + 0.06592123210430145, + 0.056754447519779205, + 3.016247034072876, + -0.09255299717187881, + 0.38358908891677856 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white block is already positioned near the center of the table, and the gripper is open and slightly elevated, indicating release has occurred. The robot appears to be in the retreat phase, moving away from the block. Next, the arm should continue retracting to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3210773468017578, + 0.06260653585195541, + 0.05473468452692032, + 2.977856397628784, + -0.08182153850793839, + 0.40634801983833313 + ], + "gripper_value": 0.2958413064479828 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white block is already positioned near the center of the table, and the gripper is open and slightly elevated, indicating release has occurred. The robot appears to be in the retreat phase, moving away from the block. Next, the arm should continue retracting to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174847960472107, + 0.060424644500017166, + 0.05091124400496483, + 2.972182273864746, + -0.07194466888904572, + 0.40184471011161804 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white block to the middle of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach white block" + }, + { + "id": 2, + "subtask": "grasp white block" + }, + { + "id": 3, + "subtask": "lift and reposition block" + }, + { + "id": 4, + "subtask": "place block at target" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The white block is already positioned near the center of the table, and the gripper is open and slightly elevated, indicating release has occurred. The robot appears to be in the retreat phase, moving away from the block. Next, the arm should continue retracting to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000930_ecot.json b/cot/chunk-0000/episode_0000930_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..85273952ab86ce5b9cf929aae1588c151c0ce4c5 --- /dev/null +++ b/cot/chunk-0000/episode_0000930_ecot.json @@ -0,0 +1,1066 @@ +{ + "task_name": "episode_0000930", + "episode_json": "json/chunk-0000/episode_0000930.json", + "video_path": "videos/chunk-0000/image_0/episode_0000930.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 17, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000930.json" + }, + "fps": 5.0, + "T_eff": 17, + "gripper_behavior_summary": { + "available": true, + "range": 0.668048620223999, + "std": 0.301438570022583, + "delta_total": -0.668048620223999, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66805, std=0.30144, total_delta=-0.66805). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 109, + 109, + 109, + 109, + 109, + 109, + 109 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 9 + ], + [ + 3, + 10, + 16 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the lever while keeping gripper open, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 8, \"end\": 9, \"planning\": \"Close gripper around lever base to establish secure hold, confirmed by gripper value drop and minimal motion.\"},\n {\"id\": 3, \"name\": \"rotate lever vertical\", \"start\": 10, \"end\": 16, \"planning\": \"Apply controlled rotational force to turn lever to vertical front position while maintaining grip, as shown by sustained low gripper values and orientation change.\"}\n ],\n \"global_plan\": \"Approach the lever, grasp it securely, then rotate it to the vertical front orientation using sustained grip and precise motion.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.477) only in final frames; grasp is justified at frame 8 onward. Segment 2 has no gripper change but follows immediately after grasp — treated as part of grasp stabilization. Segment 3 maintains grip with small adjustments during rotation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the lever while keeping gripper open, preparing for contact." + }, + { + "id": 2, + "name": "grasp lever", + "start": 8, + "end": 9, + "planning": "Close gripper around lever base to establish secure hold, confirmed by gripper value drop and minimal motion." + }, + { + "id": 3, + "name": "rotate lever vertical", + "start": 10, + "end": 16, + "planning": "Apply controlled rotational force to turn lever to vertical front position while maintaining grip, as shown by sustained low gripper values and orientation change." + } + ], + "global_plan": "Approach the lever, grasp it securely, then rotate it to the vertical front orientation using sustained grip and precise motion.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.477) only in final frames; grasp is justified at frame 8 onward. Segment 2 has no gripper change but follows immediately after grasp — treated as part of grasp stabilization. Segment 3 maintains grip with small adjustments during rotation." + } + }, + "episode_goal": "Turn the lever on the faucet to a vertical position facing the front.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4383467137813568, + -0.11831947416067123, + 0.10200481116771698, + -2.9557301998138428, + -0.1802864521741867, + -0.003915196284651756 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet in contact. No grasping has occurred as the gripper remains open and no meaningful closure is evident in the segment. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4393038749694824, + -0.11652121692895889, + 0.08710280060768127, + -2.9320068359375, + -0.163074791431427, + 0.007362857460975647 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 584, + 176, + 690, + 298 + ], + "metal pot": [ + 490, + 466, + 707, + 728 + ], + "stove knobs": [ + 284, + 57, + 451, + 229 + ], + "green round lid": [ + 409, + 114, + 570, + 238 + ] + } + } + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet in contact. No grasping has occurred as the gripper remains open and no meaningful closure is evident in the segment. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4498389661312103, + -0.11690966784954071, + 0.09994275122880936, + -2.8971810340881348, + -0.23161660134792328, + 0.01202791091054678 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible but not yet in contact. No grasping has occurred as the gripper remains open and no meaningful closure is evident in the segment. The next action should be to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.45760461688041687, + -0.12748023867607117, + 0.10536963492631912, + -2.8841843605041504, + -0.2783706784248352, + -0.008473442867398262 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible in the upper right. The gripper is currently open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4645242393016815, + -0.13119617104530334, + 0.10679258406162262, + -2.900468587875366, + -0.30532383918762207, + -0.010131865739822388 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible in the upper right. The gripper is currently open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.46753087639808655, + -0.13408279418945312, + 0.09677068144083023, + -2.9066455364227295, + -0.29882076382637024, + -0.021872607991099358 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible in the upper right. The gripper is currently open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4749945402145386, + -0.12859852612018585, + 0.09442136436700821, + -2.928187131881714, + -0.3072718679904938, + -0.02298976480960846 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible in the upper right. The gripper is currently open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4798335134983063, + -0.12251952290534973, + 0.0926443412899971, + -2.9327142238616943, + -0.31581413745880127, + -0.025756120681762695 + ], + "gripper_value": 0.852660596370697 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned near the sink with the faucet lever visible in the upper right. The gripper is currently open and has not yet made contact with the lever. The next action is to move the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4811621308326721, + -0.12275955080986023, + 0.09078875929117203, + -2.935797929763794, + -0.3254578113555908, + -0.019726842641830444 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and aligned with the lever, indicating readiness to grasp. The next action should be to close the gripper to securely hold the lever for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4797267019748688, + -0.12265120446681976, + 0.0873362198472023, + -2.939396619796753, + -0.322201669216156, + -0.011767033487558365 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and aligned with the lever, indicating readiness to grasp. The next action should be to close the gripper to securely hold the lever for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4708934426307678, + -0.12237325310707092, + 0.08520200103521347, + -2.942673921585083, + -0.31377285718917847, + 0.035981204360723495 + ], + "gripper_value": 0.38577979803085327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and aligned with the lever, indicating readiness to grasp. The next action should be to close the gripper to securely hold the lever for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4585398733615875, + -0.12467031925916672, + 0.0825192928314209, + -2.942038059234619, + -0.2976951003074646, + 0.07789891958236694 + ], + "gripper_value": 0.38577979803085327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and aligned with the lever, indicating readiness to grasp. The next action should be to close the gripper to securely hold the lever for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 4 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4459134340286255, + -0.12495828419923782, + 0.07627260684967041, + -2.9426000118255615, + -0.28592830896377563, + 0.10622168332338333 + ], + "gripper_value": 0.38577979803085327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the faucet lever and is now positioned near it. The gripper is open and aligned with the lever, indicating readiness to grasp. The next action should be to close the gripper to securely hold the lever for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4354463219642639, + -0.1272389441728592, + 0.06583838909864426, + -2.963489055633545, + -0.27483296394348145, + 0.1153022050857544 + ], + "gripper_value": 0.3823249042034149 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 584, + 176, + 688, + 298 + ], + "metal pot": [ + 489, + 467, + 706, + 727 + ], + "green square mat": [ + 742, + 605, + 887, + 789 + ], + "green round lid": [ + 409, + 113, + 570, + 239 + ], + "stove knobs": [ + 281, + 59, + 450, + 231 + ] + } + } + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is maintaining contact with the lever, and the next action is to rotate it to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42815566062927246, + -0.1276264488697052, + 0.05265205726027489, + -3.005518913269043, + -0.25024282932281494, + 0.1349269449710846 + ], + "gripper_value": 0.3703518807888031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is maintaining contact with the lever, and the next action is to rotate it to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4249183237552643, + -0.1274980753660202, + 0.04405990242958069, + -3.044276237487793, + -0.2382885068655014, + 0.15863899886608124 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is maintaining contact with the lever, and the next action is to rotate it to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.42537206411361694, + -0.1271248459815979, + 0.043788690119981766, + -3.064178943634033, + -0.22838768362998962, + 0.1632695496082306 + ], + "gripper_value": 0.3380139172077179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Turn the lever on the faucet to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached and grasped the faucet lever, which is currently in a horizontal position. The gripper is maintaining contact with the lever, and the next action is to rotate it to a vertical orientation facing the front." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000931_ecot.json b/cot/chunk-0000/episode_0000931_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5722467e7a52b77e58224df84d96732dd418e5fe --- /dev/null +++ b/cot/chunk-0000/episode_0000931_ecot.json @@ -0,0 +1,3099 @@ +{ + "task_name": "episode_0000931", + "episode_json": "json/chunk-0000/episode_0000931.json", + "video_path": "videos/chunk-0000/image_0/episode_0000931.mp4", + "instruction": "Put the orange object inside the silver pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000931.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.926603376865387, + "std": 0.2876696288585663, + "delta_total": 0.00261688232421875, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92660, std=0.28767, total_delta=0.00262). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 115, + 115, + 115, + 115, + 115, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 129, + 129, + 129, + 129, + 129, + 129, + 229, + 229, + 229, + 229, + 239, + 239, + 239, + 239, + 239, + 239 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 14 + ], + [ + 3, + 15, + 19 + ], + [ + 4, + 20, + 28 + ], + [ + 5, + 29, + 34 + ], + [ + 6, + 35, + 38 + ], + [ + 7, + 39, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach orange object\", \"start\": 0, \"end\": 14, \"planning\": \"Move the end-effector from initial position toward the orange object on the green cloth, preparing for grasp.\"},\n {\"id\": 2, \"name\": \"grasp orange object\", \"start\": 15, \"end\": 19, \"planning\": \"Close gripper around the orange object while maintaining contact and stabilizing pose for lift.\"},\n {\"id\": 3, \"name\": \"lift and reposition over pot\", \"start\": 20, \"end\": 28, \"planning\": \"Lift the grasped orange object and move it horizontally to align above the silver pot.\"},\n {\"id\": 4, \"name\": \"lower into pot\", \"start\": 29, \"end\": 34, \"planning\": \"Descend with the orange object held in gripper until it is positioned inside the silver pot.\"},\n {\"id\": 5, \"name\": \"release orange object\", \"start\": 35, \"end\": 38, \"planning\": \"Open gripper to release the orange object into the pot, ensuring it settles without slipping out.\"},\n {\"id\": 6, \"name\": \"retreat from pot\", \"start\": 39, \"end\": 44, \"planning\": \"Withdraw the end-effector upward and away from the pot after successful release, completing the task.\"}\n ],\n \"global_plan\": \"Approach the orange object, grasp it securely, lift and reposition over the silver pot, lower it inside, release, then retreat to complete the placement task.\",\n \"notes\": \"Segment 1 (frames 0-4) shows no gripper closing — correctly labeled as approach. Segment 3 (15-19) has meaningful gripper closure and image confirmation — grasp is valid. Segment 5 (29-34) has no gripper change — labeled as lowering without implying new grasp. Segment 7 (39-44) shows gripper opening — release and retreat are justified. All segments covered contiguously with no gaps or overlaps.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach orange object", + "start": 0, + "end": 14, + "planning": "Move the end-effector from initial position toward the orange object on the green cloth, preparing for grasp." + }, + { + "id": 2, + "name": "grasp orange object", + "start": 15, + "end": 19, + "planning": "Close gripper around the orange object while maintaining contact and stabilizing pose for lift." + }, + { + "id": 3, + "name": "lift and reposition over pot", + "start": 20, + "end": 28, + "planning": "Lift the grasped orange object and move it horizontally to align above the silver pot." + }, + { + "id": 4, + "name": "lower into pot", + "start": 29, + "end": 34, + "planning": "Descend with the orange object held in gripper until it is positioned inside the silver pot." + }, + { + "id": 5, + "name": "release orange object", + "start": 35, + "end": 38, + "planning": "Open gripper to release the orange object into the pot, ensuring it settles without slipping out." + }, + { + "id": 6, + "name": "retreat from pot", + "start": 39, + "end": 44, + "planning": "Withdraw the end-effector upward and away from the pot after successful release, completing the task." + } + ], + "global_plan": "Approach the orange object, grasp it securely, lift and reposition over the silver pot, lower it inside, release, then retreat to complete the placement task.", + "notes": "Segment 1 (frames 0-4) shows no gripper closing — correctly labeled as approach. Segment 3 (15-19) has meaningful gripper closure and image confirmation — grasp is valid. Segment 5 (29-34) has no gripper change — labeled as lowering without implying new grasp. Segment 7 (39-44) shows gripper opening — release and retreat are justified. All segments covered contiguously with no gaps or overlaps." + } + }, + "episode_goal": "Place the orange object inside the silver pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22777928411960602, + 0.13998286426067352, + 0.023028166964650154, + -3.059108018875122, + -0.2847195267677307, + 0.2518433630466461 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange object (carrot) visible on a green cloth to the right. No part of the task has been completed yet. The current situation requires the robot to move its end-effector closer to the orange object to prepare for grasping. The most likely next action is to translate the arm towards the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 17 cm, move down 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.224717915058136, + 0.13761478662490845, + 0.017748866230249405, + -3.0669655799865723, + -0.2645553648471832, + 0.2568565011024475 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange object (carrot) visible on a green cloth to the right. No part of the task has been completed yet. The current situation requires the robot to move its end-effector closer to the orange object to prepare for grasping. The most likely next action is to translate the arm towards the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 16 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.22640585899353027, + 0.12426886707544327, + 0.013435792177915573, + -3.077204942703247, + -0.2608500123023987, + 0.24312326312065125 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange object (carrot) visible on a green cloth to the right. No part of the task has been completed yet. The current situation requires the robot to move its end-effector closer to the orange object to prepare for grasping. The most likely next action is to translate the arm towards the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 15 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23588748276233673, + 0.1003161147236824, + 0.011988585814833641, + -3.100843906402588, + -0.2693803310394287, + 0.19724580645561218 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange object (carrot) visible on a green cloth to the right. No part of the task has been completed yet. The current situation requires the robot to move its end-effector closer to the orange object to prepare for grasping. The most likely next action is to translate the arm towards the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 12 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24966619908809662, + 0.05386257916688919, + 0.01457820925861597, + -3.1178030967712402, + -0.27823448181152344, + 0.11504309624433517 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange object (carrot) visible on a green cloth to the right. No part of the task has been completed yet. The current situation requires the robot to move its end-effector closer to the orange object to prepare for grasping. The most likely next action is to translate the arm towards the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 8 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2534337341785431, + 0.005244688130915165, + 0.015060920268297195, + 3.1075117588043213, + -0.2534155547618866, + 0.09447386860847473 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange object (carrot) visible on a green cloth to the right. No part of the task has been completed yet. The current situation requires the robot to move its end-effector closer to the orange object to prepare for grasping. The most likely next action is to translate the arm towards the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628746032714844, + -0.021358538419008255, + 0.014139926061034203, + 3.0602588653564453, + -0.22891899943351746, + 0.11903943121433258 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the orange object (carrot) visible on a green cloth to the right. No part of the task has been completed yet. The current situation requires the robot to move its end-effector closer to the orange object to prepare for grasping. The most likely next action is to translate the arm towards the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2770388722419739, + -0.030335575342178345, + 0.005101335234940052, + 3.0673470497131348, + -0.20262619853019714, + 0.13287347555160522 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 3 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2961243987083435, + -0.029973652213811874, + -0.0021771432366222143, + 3.0695769786834717, + -0.201436847448349, + 0.13942864537239075 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 2 cm, close gripper; then move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30858421325683594, + -0.02719016931951046, + -0.0063031516037881374, + 3.080449342727661, + -0.20844082534313202, + 0.1341719627380371 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, close gripper; then move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3209373950958252, + -0.0267204400151968, + -0.008922049775719643, + 3.0904974937438965, + -0.22291691601276398, + 0.13020585477352142 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3239695727825165, + -0.027314946055412292, + -0.02020147815346718, + 3.0937464237213135, + -0.19694223999977112, + 0.13002191483974457 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move up 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3229498267173767, + -0.02631414122879505, + -0.023897439241409302, + 3.1002445220947266, + -0.18728992342948914, + 0.13734029233455658 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32309824228286743, + -0.02456570416688919, + -0.02389075793325901, + 3.106417655944824, + -0.18875746428966522, + 0.1471991389989853 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 1 cm, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32495376467704773, + -0.023672040551900864, + -0.02451392449438572, + 3.108255624771118, + -0.2066906839609146, + 0.15107333660125732 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 1 cm, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32578378915786743, + -0.022620832547545433, + -0.023867292329669, + 3.1151511669158936, + -0.2136240303516388, + 0.1585555076599121 + ], + "gripper_value": 0.4356481730937958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, open gripper; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32581019401550293, + -0.020899420604109764, + -0.01970401406288147, + 3.121257781982422, + -0.227071613073349, + 0.16652162373065948 + ], + "gripper_value": 0.3259891867637634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot arm is positioned above the workspace with the orange object visible on the green cloth. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the orange object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272959291934967, + -0.020718641579151154, + -0.016679711639881134, + 3.1225531101226807, + -0.24437078833580017, + 0.15196917951107025 + ], + "gripper_value": 0.16973881423473358 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange object on the green cloth, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3269788920879364, + -0.02222028560936451, + -0.01547570526599884, + 3.1105270385742188, + -0.24739859998226166, + 0.15781697630882263 + ], + "gripper_value": 0.09700111299753189 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange object on the green cloth, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3236508071422577, + -0.0229461882263422, + -0.016649538651108742, + 3.1053555011749268, + -0.22835023701190948, + 0.159385085105896 + ], + "gripper_value": 0.24929283559322357 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp orange object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange object on the green cloth, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 15, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212120831012726, + -0.019734935835003853, + -0.018503908067941666, + 3.10961651802063, + -0.21509991586208344, + 0.16486218571662903 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange object on the green cloth, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3199182450771332, + -0.019524268805980682, + -0.022201191633939743, + 3.112273693084717, + -0.2032245248556137, + 0.1691565364599228 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange object on the green cloth, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3196892738342285, + -0.018725160509347916, + -0.023413293063640594, + 3.1175692081451416, + -0.20003926753997803, + 0.17175711691379547 + ], + "gripper_value": 1.0236045122146606 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange object on the green cloth, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3188789486885071, + -0.01778433471918106, + -0.026530321687459946, + 3.12518572807312, + -0.19270312786102295, + 0.17114919424057007 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the orange object on the green cloth, with the gripper open and ready. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the orange object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 1 cm, move left 4 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3216142952442169, + -0.018406376242637634, + -0.02538474090397358, + 3.121230125427246, + -0.19788925349712372, + 0.17078657448291779 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has grasped the orange object and is currently lifting it above the stovetop. The gripper remains closed, and the object is being repositioned toward the silver pot. The next action is to continue moving the object over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move forward 2 cm, move left 9 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.32396161556243896, + -0.021490758284926414, + -0.031005805358290672, + 3.1141390800476074, + -0.16526289284229279, + 0.14794330298900604 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has grasped the orange object and is currently lifting it above the stovetop. The gripper remains closed, and the object is being repositioned toward the silver pot. The next action is to continue moving the object over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move forward 2 cm, move left 14 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32695990800857544, + -0.021787572652101517, + -0.031019024550914764, + 3.116882085800171, + -0.16100458800792694, + 0.13371776044368744 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has grasped the orange object and is currently lifting it above the stovetop. The gripper remains closed, and the object is being repositioned toward the silver pot. The next action is to continue moving the object over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 14 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.32836440205574036, + -0.021971944719552994, + -0.03571786358952522, + 3.115090847015381, + -0.14652442932128906, + 0.1415768712759018 + ], + "gripper_value": 0.959831714630127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has grasped the orange object and is currently lifting it above the stovetop. The gripper remains closed, and the object is being repositioned toward the silver pot. The next action is to continue moving the object over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 14 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.32851845026016235, + -0.019778475165367126, + -0.03618728742003441, + 3.106743574142456, + -0.14475011825561523, + 0.15308642387390137 + ], + "gripper_value": 0.6661520600318909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition over pot", + "subtask_reasoning": "The robot has grasped the orange object and is currently lifting it above the stovetop. The gripper remains closed, and the object is being repositioned toward the silver pot. The next action is to continue moving the object over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move left 14 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 5 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.32993048429489136, + -0.01925387978553772, + -0.035399045795202255, + 3.109447717666626, + -0.14844867587089539, + 0.1557886153459549 + ], + "gripper_value": 0.47187528014183044 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lower into pot", + "subtask_reasoning": "The robot has grasped the orange object and is currently lifting it above the stovetop. The gripper remains closed, and the object is being repositioned toward the silver pot. The next action is to continue moving the object over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.33016252517700195, + -0.01926742121577263, + -0.034581102430820465, + 3.1112046241760254, + -0.14254653453826904, + 0.15249982476234436 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lower into pot", + "subtask_reasoning": "The robot has grasped the orange object and is currently lifting it above the stovetop. The gripper remains closed, and the object is being repositioned toward the silver pot. The next action is to continue moving the object over the pot for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3331640064716339, + -0.02146061323583126, + -0.025051642209291458, + 3.087930202484131, + -0.17164359986782074, + 0.12542475759983063 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lower into pot", + "subtask_reasoning": "The robot is currently lowering the orange object toward the silver pot, with the gripper maintaining a consistent hold. The object is positioned above the pot, and the next action is to continue lowering it until it is fully inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 14 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 2 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33942461013793945, + -0.0088115893304348, + 0.00389276840724051, + 3.0585081577301025, + -0.2478344440460205, + 0.15602296590805054 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lower into pot", + "subtask_reasoning": "The robot is currently lowering the orange object toward the silver pot, with the gripper maintaining a consistent hold. The object is positioned above the pot, and the next action is to continue lowering it until it is fully inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 13 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 3 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3391992747783661, + 0.025721043348312378, + 0.016456710174679756, + 3.021530866622925, + -0.2644035518169403, + 0.2581245005130768 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lower into pot", + "subtask_reasoning": "The robot is currently lowering the orange object toward the silver pot, with the gripper maintaining a consistent hold. The object is positioned above the pot, and the next action is to continue lowering it until it is fully inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 4 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450632691383362, + 0.07516437023878098, + 0.022581422701478004, + 3.0379011631011963, + -0.25644490122795105, + 0.3905809223651886 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lower into pot", + "subtask_reasoning": "The robot is currently lowering the orange object toward the silver pot, with the gripper maintaining a consistent hold. The object is positioned above the pot, and the next action is to continue lowering it until it is fully inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 6 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 34 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.35477176308631897, + 0.1184319481253624, + 0.010431620292365551, + 3.0528409481048584, + -0.21238544583320618, + 0.47504740953445435 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release orange object", + "subtask_reasoning": "The robot is currently lowering the orange object toward the silver pot, with the gripper maintaining a consistent hold. The object is positioned above the pot, and the next action is to continue lowering it until it is fully inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, open gripper; then move back 6 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613448441028595, + 0.1548076570034027, + -0.002012555953115225, + 3.0413665771484375, + -0.18289387226104736, + 0.5431580543518066 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release orange object", + "subtask_reasoning": "The orange object is currently positioned directly above the silver pot, with the gripper open and no closing motion detected in this segment. The object appears to be in the process of being released or has just been released into the pot. The next action should confirm full release and initiate retreat to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, open gripper; then move back 6 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 35, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3617207705974579, + 0.16783437132835388, + -0.007631560321897268, + 3.04345440864563, + -0.1715131551027298, + 0.5479989647865295 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release orange object", + "subtask_reasoning": "The orange object is currently positioned directly above the silver pot, with the gripper open and no closing motion detected in this segment. The object appears to be in the process of being released or has just been released into the pot. The next action should confirm full release and initiate retreat to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, open gripper; then move back 6 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3591344356536865, + 0.17246191203594208, + -0.008514008484780788, + 3.028362274169922, + -0.1747095137834549, + 0.5571742653846741 + ], + "gripper_value": 0.4709327220916748 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "release orange object", + "subtask_reasoning": "The orange object is currently positioned directly above the silver pot, with the gripper open and no closing motion detected in this segment. The object appears to be in the process of being released or has just been released into the pot. The next action should confirm full release and initiate retreat to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 1 cm, keep gripper open; then move back 6 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 35, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.34331485629081726, + 0.16766241192817688, + -0.016866622492671013, + 3.0376813411712646, + -0.15033698081970215, + 0.5481618642807007 + ], + "gripper_value": 0.5413121581077576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The orange object is currently positioned directly above the silver pot, with the gripper open and no closing motion detected in this segment. The object appears to be in the process of being released or has just been released into the pot. The next action should confirm full release and initiate retreat to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 6 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.33603253960609436, + 0.16294145584106445, + -0.0047125737182796, + 3.0354416370391846, + -0.17349646985530853, + 0.5475510358810425 + ], + "gripper_value": 0.8517581820487976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The orange object is currently positioned directly above the silver pot, with the gripper open and no closing motion detected in this segment. The object appears to be in the process of being released or has just been released into the pot. The next action should confirm full release and initiate retreat to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 36 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.32669833302497864, + 0.1546807438135147, + 0.003999997396022081, + 3.029198408126831, + -0.1910262405872345, + 0.5308815836906433 + ], + "gripper_value": 1.013738751411438 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The orange object has been successfully placed inside the silver pot, and the gripper is now open and retracting. The robot arm is moving away from the pot area, indicating completion of the placement action. The next step is to fully retreat to a neutral position to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.31601107120513916, + 0.13971255719661713, + 0.026347119361162186, + 3.032334089279175, + -0.2501852512359619, + 0.47841477394104004 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The orange object has been successfully placed inside the silver pot, and the gripper is now open and retracting. The robot arm is moving away from the pot area, indicating completion of the placement action. The next step is to fully retreat to a neutral position to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3048281967639923, + 0.12346615642309189, + 0.04422636330127716, + 3.03713321685791, + -0.2999172806739807, + 0.43201807141304016 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The orange object has been successfully placed inside the silver pot, and the gripper is now open and retracting. The robot arm is moving away from the pot area, indicating completion of the placement action. The next step is to fully retreat to a neutral position to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880649268627167, + 0.1122673824429512, + 0.05039594694972038, + 3.0609233379364014, + -0.3122149407863617, + 0.3982044458389282 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the orange object inside the silver pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach orange object" + }, + { + "id": 2, + "subtask": "grasp orange object" + }, + { + "id": 3, + "subtask": "lift and reposition over pot" + }, + { + "id": 4, + "subtask": "lower into pot" + }, + { + "id": 5, + "subtask": "release orange object" + }, + { + "id": 6, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The orange object has been successfully placed inside the silver pot, and the gripper is now open and retracting. The robot arm is moving away from the pot area, indicating completion of the placement action. The next step is to fully retreat to a neutral position to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000932_ecot.json b/cot/chunk-0000/episode_0000932_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5659cb50737bc99653d8395ebabe016796780cfe --- /dev/null +++ b/cot/chunk-0000/episode_0000932_ecot.json @@ -0,0 +1,1268 @@ +{ + "task_name": "episode_0000932", + "episode_json": "json/chunk-0000/episode_0000932.json", + "video_path": "videos/chunk-0000/image_0/episode_0000932.mp4", + "instruction": "Put eggplant in pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000932.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.5191001296043396, + "std": 0.24752849340438843, + "delta_total": -0.518150806427002, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.51910, std=0.24753, total_delta=-0.51815). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 113, + 113, + 113, + 113, + 113, + 113, + 113 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the eggplant near the pot without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp eggplant\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the eggplant while maintaining contact and securing it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and reposition eggplant\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the grasped eggplant slightly and begin moving it toward the pot opening.\"},\n {\"id\": 4, \"name\": \"release eggplant into pot\", \"start\": 17, \"end\": 19, \"planning\": \"Open the gripper to drop the eggplant into the pot, completing the placement task.\"}\n ],\n \"global_plan\": \"Approach the eggplant, grasp it securely, lift and move it over the pot, then release it inside to complete the task.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.49518) consistent with grasping; Segment 2 shows no further closing (range=0.00095), so release is inferred from motion and context. Frame coverage is complete and contiguous from 0 to 19.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the eggplant near the pot without closing the gripper." + }, + { + "id": 2, + "name": "grasp eggplant", + "start": 6, + "end": 12, + "planning": "Close the gripper around the eggplant while maintaining contact and securing it for lifting." + }, + { + "id": 3, + "name": "lift and reposition eggplant", + "start": 13, + "end": 16, + "planning": "Lift the grasped eggplant slightly and begin moving it toward the pot opening." + }, + { + "id": 4, + "name": "release eggplant into pot", + "start": 17, + "end": 19, + "planning": "Open the gripper to drop the eggplant into the pot, completing the placement task." + } + ], + "global_plan": "Approach the eggplant, grasp it securely, lift and move it over the pot, then release it inside to complete the task.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.49518) consistent with grasping; Segment 2 shows no further closing (range=0.00095), so release is inferred from motion and context. Frame coverage is complete and contiguous from 0 to 19." + } + }, + "episode_goal": "Place the eggplant into the metal pot on the countertop.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4324991703033447, + -0.06938355416059494, + 0.037331290543079376, + -3.0471956729888916, + -0.35301992297172546, + -0.3611256778240204 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink area with the eggplant visible on the countertop to the right. No movement or grasping has occurred yet as the gripper remains fully open and stationary. The next action should be to move the end effector toward the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, keep gripper open; then move down 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4280391335487366, + -0.07127119600772858, + 0.029018953442573547, + -3.0765810012817383, + -0.31438541412353516, + -0.34373414516448975 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink area with the eggplant visible on the countertop to the right. No movement or grasping has occurred yet as the gripper remains fully open and stationary. The next action should be to move the end effector toward the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move down 1 cm, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4322108328342438, + -0.07550718635320663, + 0.03362133726477623, + -3.0939741134643555, + -0.31096044182777405, + -0.3243992030620575 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the eggplant visible on the countertop to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 1 cm, keep gripper open; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4344037175178528, + -0.09320420026779175, + 0.040137339383363724, + -3.1203088760375977, + -0.3248147666454315, + -0.31106850504875183 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the eggplant visible on the countertop to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, keep gripper open; then move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4326900243759155, + -0.10454505681991577, + 0.03441614657640457, + -3.140023946762085, + -0.3152414560317993, + -0.29835522174835205 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the eggplant visible on the countertop to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, keep gripper open; then move left 1 cm, close gripper; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4352017045021057, + -0.11687038093805313, + 0.03316595032811165, + -3.1205554008483887, + -0.32930460572242737, + -0.30381229519844055 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the eggplant visible on the countertop to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, close gripper; then move left 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4339671730995178, + -0.13098663091659546, + 0.022519977763295174, + -3.103393793106079, + -0.3454630970954895, + -0.3157087564468384 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 419, + 26, + 586, + 303 + ] + } + } + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the eggplant visible on the countertop to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, close gripper; then move back 2 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4320765435695648, + -0.12820211052894592, + 0.014652591198682785, + -3.0869414806365967, + -0.363789826631546, + -0.29219090938568115 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the eggplant visible on the countertop to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, close gripper; then move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.43115612864494324, + -0.12979064881801605, + 0.010720235295593739, + -3.0687484741210938, + -0.383192241191864, + -0.30102473497390747 + ], + "gripper_value": 0.9816622138023376 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot is positioned near the sink with the eggplant visible on the countertop to the right. No grasping has occurred yet as the gripper remains open. The next action is to move the end effector closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt forward 10 degrees, close gripper; then move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4333787262439728, + -0.13156408071517944, + 0.00667994562536478, + -3.0710947513580322, + -0.41439205408096313, + -0.31205740571022034 + ], + "gripper_value": 0.9816622138023376 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the eggplant near the sink, and the gripper is currently open. The segment-level gripper evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.43812572956085205, + -0.1330486536026001, + 0.005405793432146311, + -3.0744376182556152, + -0.4553965926170349, + -0.30391499400138855 + ], + "gripper_value": 0.8055269122123718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the eggplant near the sink, and the gripper is currently open. The segment-level gripper evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4356895685195923, + -0.13168448209762573, + 0.005144533235579729, + -3.0617382526397705, + -0.41994884610176086, + -0.3162958323955536 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the eggplant near the sink, and the gripper is currently open. The segment-level gripper evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.43258747458457947, + -0.12876065075397491, + 0.008187853731215, + -3.0394866466522217, + -0.36409270763397217, + -0.34602388739585876 + ], + "gripper_value": 0.5043045878410339 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the eggplant near the sink, and the gripper is currently open. The segment-level gripper evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4350180923938751, + -0.1226978600025177, + 0.02472953498363495, + -3.0001766681671143, + -0.28596019744873047, + -0.372527152299881 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The robot has approached the eggplant near the sink, and the gripper is currently open. The segment-level gripper evidence indicates a closing motion is occurring or imminent. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4407026767730713, + -0.11326150596141815, + 0.05619651451706886, + -2.95369291305542, + -0.24087227880954742, + -0.3909020721912384 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The eggplant has been grasped and is currently being lifted from the countertop near the sink. The gripper remains closed with minimal change, indicating a secure hold. The next action is to continue lifting and repositioning the eggplant toward the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4315341114997864, + -0.11508066207170486, + 0.07616245746612549, + -2.9272401332855225, + -0.21904948353767395, + -0.3579885959625244 + ], + "gripper_value": 0.48038846254348755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The eggplant has been grasped and is currently being lifted from the countertop near the sink. The gripper remains closed with minimal change, indicating a secure hold. The next action is to continue lifting and repositioning the eggplant toward the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4120548665523529, + -0.12287557125091553, + 0.08181368559598923, + -2.9392647743225098, + -0.21623274683952332, + -0.29343652725219727 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "lift and reposition eggplant", + "subtask_reasoning": "The eggplant has been grasped and is currently being lifted from the countertop near the sink. The gripper remains closed with minimal change, indicating a secure hold. The next action is to continue lifting and repositioning the eggplant toward the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, keep gripper closed; then move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3896212875843048, + -0.13291727006435394, + 0.08310463279485703, + -2.9495465755462646, + -0.2230684906244278, + -0.242548868060112 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 415, + 29, + 588, + 305 + ] + } + } + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The eggplant has been grasped and is currently being lifted from the countertop near the sink. The gripper remains closed with minimal change, indicating a secure hold. The next action is to continue lifting and repositioning the eggplant toward the metal pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37337401509284973, + -0.13356637954711914, + 0.07060261070728302, + -2.9667797088623047, + -0.23950941860675812, + -0.20383888483047485 + ], + "gripper_value": 0.48038846254348755 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The eggplant is currently held above the metal pot on the countertop, with the gripper maintaining a steady position. The subtask involves releasing the eggplant into the pot, which requires opening the gripper to drop the eggplant inside. The next action is to open the gripper to complete the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3623337149620056, + -0.13025632500648499, + 0.06094098463654518, + -2.979536771774292, + -0.2704553008079529, + -0.1792915016412735 + ], + "gripper_value": 0.4813377559185028 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the eggplant into the metal pot on the countertop." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition eggplant" + }, + { + "id": 4, + "subtask": "release eggplant into pot" + } + ], + "subtask_name": "release eggplant into pot", + "subtask_reasoning": "The eggplant is currently held above the metal pot on the countertop, with the gripper maintaining a steady position. The subtask involves releasing the eggplant into the pot, which requires opening the gripper to drop the eggplant inside. The next action is to open the gripper to complete the release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000933_ecot.json b/cot/chunk-0000/episode_0000933_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a5b1f095d8aa01b0c2945dabde3a029d335f49db --- /dev/null +++ b/cot/chunk-0000/episode_0000933_ecot.json @@ -0,0 +1,2511 @@ +{ + "task_name": "episode_0000933", + "episode_json": "json/chunk-0000/episode_0000933.json", + "video_path": "videos/chunk-0000/image_0/episode_0000933.mp4", + "instruction": "Upright basil bottle cardboard fence.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000933.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.16229486465454102, + "std": 0.06033974140882492, + "delta_total": 0.0013339519500732422, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.16229, std=0.06034, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 16 + ], + [ + 3, + 17, + 18 + ], + [ + 4, + 19, + 23 + ], + [ + 5, + 24, + 26 + ], + [ + 6, + 27, + 30 + ], + [ + 7, + 31, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and align with bottle\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the red bottle while adjusting orientation for contact.\"},\n {\"id\": 2, \"name\": \"Make initial contact and stabilize\", \"start\": 5, \"end\": 16, \"planning\": \"Establish gentle contact with the bottle and adjust pose to prepare for uprighting.\"},\n {\"id\": 3, \"name\": \"Reposition gripper for grip\", \"start\": 17, \"end\": 18, \"planning\": \"Fine-tune end-effector position near bottle base without closing gripper.\"},\n {\"id\": 4, \"name\": \"Grasp bottle base\", \"start\": 19, \"end\": 26, \"planning\": \"Close gripper around bottle base and secure hold as confirmed by gripper signal change.\"},\n {\"id\": 5, \"name\": \"Lift and rotate bottle upright\", \"start\": 27, \"end\": 30, \"planning\": \"Raise bottle vertically while rotating it into upright orientation.\"},\n {\"id\": 6, \"name\": \"Place bottle upright and release\", \"start\": 31, \"end\": 34, \"planning\": \"Set bottle down in upright position and open gripper to release, confirmed by gripper signal increase.\"}\n ],\n \"global_plan\": \"Upright the basil bottle by approaching, grasping its base, lifting and rotating it vertically, then placing it upright and releasing.\",\n \"notes\": \"Gripper closure is only asserted in segments 5 and 7 where segment-level evidence shows meaningful closing (range > 0.02) and images confirm physical interaction. Segments 1, 3 use contact-based language since no gripper closure occurred.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and align with bottle", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the red bottle while adjusting orientation for contact." + }, + { + "id": 2, + "name": "Make initial contact and stabilize", + "start": 5, + "end": 16, + "planning": "Establish gentle contact with the bottle and adjust pose to prepare for uprighting." + }, + { + "id": 3, + "name": "Reposition gripper for grip", + "start": 17, + "end": 18, + "planning": "Fine-tune end-effector position near bottle base without closing gripper." + }, + { + "id": 4, + "name": "Grasp bottle base", + "start": 19, + "end": 26, + "planning": "Close gripper around bottle base and secure hold as confirmed by gripper signal change." + }, + { + "id": 5, + "name": "Lift and rotate bottle upright", + "start": 27, + "end": 30, + "planning": "Raise bottle vertically while rotating it into upright orientation." + }, + { + "id": 6, + "name": "Place bottle upright and release", + "start": 31, + "end": 34, + "planning": "Set bottle down in upright position and open gripper to release, confirmed by gripper signal increase." + } + ], + "global_plan": "Upright the basil bottle by approaching, grasping its base, lifting and rotating it vertically, then placing it upright and releasing.", + "notes": "Gripper closure is only asserted in segments 5 and 7 where segment-level evidence shows meaningful closing (range > 0.02) and images confirm physical interaction. Segments 1, 3 use contact-based language since no gripper closure occurred." + } + }, + "episode_goal": "Upright the basil bottle inside the cardboard fence.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.33542394638061523, + -0.01643458753824234, + 0.09786927700042725, + -3.0118021965026855, + -0.25759124755859375, + 0.3927321135997772 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Approach and align with bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No actions have been completed yet. The gripper is open and aligned near the bottle, indicating readiness to approach and align for grasping. The next action should involve moving the end-effector closer to the bottle's base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move back 7 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3319851756095886, + -0.016466936096549034, + 0.08764126151800156, + -2.998173236846924, + -0.22613345086574554, + 0.3753649592399597 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Approach and align with bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No actions have been completed yet. The gripper is open and aligned near the bottle, indicating readiness to approach and align for grasping. The next action should involve moving the end-effector closer to the bottle's base to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 8 cm, move up 1 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move back 7 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33913454413414, + -0.02866498753428459, + 0.08633531630039215, + -3.0167360305786133, + -0.22328640520572662, + 0.13170050084590912 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Approach and align with bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 1 cm, tilt right 20 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move back 7 cm, move right 3 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34865060448646545, + -0.04933210462331772, + 0.09758352488279343, + -3.089472532272339, + -0.2245546132326126, + -0.1074053943157196 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Approach and align with bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 7 cm, move right 3 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3447250723838806, + -0.06880006939172745, + 0.09756187349557877, + -3.1027774810791016, + -0.2099219262599945, + -0.34374091029167175 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Approach and align with bottle", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move right 3 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 80 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32892856001853943, + -0.09805712103843689, + 0.09587525576353073, + 3.103855609893799, + -0.14596974849700928, + -0.5796836018562317 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 3 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 70 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3017691373825073, + -0.12188762426376343, + 0.08076613396406174, + 3.011101722717285, + -0.14229413866996765, + -0.8206013441085815 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 736, + 489, + 836, + 612 + ], + "red jar": [ + 501, + 522, + 764, + 784 + ], + "orange bowl": [ + 369, + 256, + 563, + 484 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 50 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27440688014030457, + -0.13113965094089508, + 0.07769327610731125, + 2.959030866622925, + -0.19527073204517365, + -1.055344820022583 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 5 cm, tilt forward 20 degrees, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26456090807914734, + -0.12390896677970886, + 0.07223743200302124, + 2.9799070358276367, + -0.18291521072387695, + -1.3029807806015015 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2583816647529602, + -0.11597231030464172, + 0.0630628764629364, + 3.0309524536132812, + -0.12410130351781845, + -1.558590292930603 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot is positioned above the wooden tray, with the basil bottle lying horizontally inside the cardboard fence. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer and align it with the bottle's base for upcoming manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25804102420806885, + -0.11829875409603119, + 0.05447185039520264, + 3.0626637935638428, + -0.061112381517887115, + -1.8103117942810059 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen basil bottle inside the cardboard fence, with the gripper fully open. The approach and alignment phase is complete, and the arm is now stationary or making minor adjustments to stabilize. The next action is to lower the gripper to make physical contact with the bottle's base in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.25975146889686584, + -0.12471067160367966, + 0.04757174849510193, + 3.1028480529785156, + -0.02599535696208477, + -2.041865110397339 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red jar": [ + 499, + 521, + 765, + 782 + ], + "orange bowl": [ + 369, + 254, + 565, + 484 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen basil bottle inside the cardboard fence, with the gripper fully open. The approach and alignment phase is complete, and the arm is now stationary or making minor adjustments to stabilize. The next action is to lower the gripper to make physical contact with the bottle's base in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25908181071281433, + -0.12842443585395813, + 0.03970065712928772, + 3.0973401069641113, + -0.014506237581372261, + -2.0347249507904053 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen basil bottle inside the cardboard fence, with the gripper fully open. The approach and alignment phase is complete, and the arm is now stationary or making minor adjustments to stabilize. The next action is to lower the gripper to make physical contact with the bottle's base in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2562190592288971, + -0.12914016842842102, + 0.03320324420928955, + 3.1143343448638916, + 0.008517365902662277, + -1.9999096393585205 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen basil bottle inside the cardboard fence, with the gripper fully open. The approach and alignment phase is complete, and the arm is now stationary or making minor adjustments to stabilize. The next action is to lower the gripper to make physical contact with the bottle's base in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 20 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move right 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25545257329940796, + -0.1261221021413803, + 0.03095553256571293, + 3.114582061767578, + -0.00822458416223526, + -1.921067237854004 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen basil bottle inside the cardboard fence, with the gripper fully open. The approach and alignment phase is complete, and the arm is now stationary or making minor adjustments to stabilize. The next action is to lower the gripper to make physical contact with the bottle's base in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate clockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25559476017951965, + -0.12532369792461395, + 0.03097527287900448, + 3.1110029220581055, + -0.010513673536479473, + -1.7935508489608765 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen basil bottle inside the cardboard fence, with the gripper fully open. The approach and alignment phase is complete, and the arm is now stationary or making minor adjustments to stabilize. The next action is to lower the gripper to make physical contact with the bottle's base in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move down 1 cm, keep gripper open; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2570209503173828, + -0.12624315917491913, + 0.03122836723923683, + 3.1274845600128174, + 0.016850903630256653, + -1.7430661916732788 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Make initial contact and stabilize", + "subtask_reasoning": "The robot's end-effector is positioned directly above the fallen basil bottle inside the cardboard fence, with the gripper fully open. The approach and alignment phase is complete, and the arm is now stationary or making minor adjustments to stabilize. The next action is to lower the gripper to make physical contact with the bottle's base in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move down 1 cm, keep gripper open; then move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2595563530921936, + -0.12512989342212677, + 0.03097161278128624, + -3.1376454830169678, + 0.03137633949518204, + -1.729257583618164 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Reposition gripper for grip", + "subtask_reasoning": "The gripper is in contact with the base of the fallen basil bottle, having completed the approach and stabilization. Since the segment-level gripper evidence shows no closing motion, the robot is currently maintaining contact to prepare for the lift. The next action involves adjusting the end-effector orientation to align for a secure vertical grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2623380720615387, + -0.12594933807849884, + 0.029696062207221985, + -3.11895751953125, + 0.03443145006895065, + -1.7003244161605835 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Reposition gripper for grip", + "subtask_reasoning": "The gripper is in contact with the base of the fallen basil bottle, having completed the approach and stabilization. Since the segment-level gripper evidence shows no closing motion, the robot is currently maintaining contact to prepare for the lift. The next action involves adjusting the end-effector orientation to align for a secure vertical grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2594842314720154, + -0.1260683834552765, + 0.01978079229593277, + 3.135723352432251, + 0.04822131246328354, + -1.6559752225875854 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red jar": [ + 501, + 510, + 763, + 766 + ], + "orange bowl": [ + 369, + 255, + 564, + 485 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The gripper is in contact with the base of the fallen basil bottle, having completed the approach and stabilization. Since the segment-level gripper evidence shows no closing motion, the robot is currently maintaining contact to prepare for the lift. The next action involves adjusting the end-effector orientation to align for a secure vertical grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2581762671470642, + -0.12831489741802216, + 0.019828548654913902, + 3.1377577781677246, + 0.054291799664497375, + -1.6501585245132446 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The gripper is in contact with the base of the fallen basil bottle, having completed the approach and stabilization. Since the segment-level gripper evidence shows no closing motion, the robot is currently maintaining contact to prepare for the lift. The next action involves adjusting the end-effector orientation to align for a secure vertical grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543317377567291, + -0.1290803998708725, + 0.018089953809976578, + 3.115234375, + 0.054478973150253296, + -1.6247508525848389 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The gripper is in contact with the base of the fallen basil bottle, having completed the approach and stabilization. Since the segment-level gripper evidence shows no closing motion, the robot is currently maintaining contact to prepare for the lift. The next action involves adjusting the end-effector orientation to align for a secure vertical grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, rotate clockwise 10 degrees, close gripper; then move left 2 cm, move up 8 cm, tilt back 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542419135570526, + -0.13187740743160248, + 0.017232360318303108, + 3.1083340644836426, + 0.04540859907865524, + -1.587754249572754 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The robot arm is positioned over the fallen basil bottle inside the cardboard fence, with the gripper open and aligned near the bottle's base. Initial contact has been made, and the gripper is preparing to close. The next action is to grasp the bottle base securely to enable lifting and upright rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move left 2 cm, move up 8 cm, tilt back 20 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25708118081092834, + -0.13502468168735504, + 0.01633816957473755, + 3.132047414779663, + 0.033164482563734055, + -1.5676039457321167 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The robot arm is positioned over the fallen basil bottle inside the cardboard fence, with the gripper open and aligned near the bottle's base. Initial contact has been made, and the gripper is preparing to close. The next action is to grasp the bottle base securely to enable lifting and upright rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move left 2 cm, move up 8 cm, tilt back 20 degrees, keep gripper closed; then move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.25785526633262634, + -0.13578660786151886, + 0.013944705948233604, + -3.125720500946045, + 0.02997562289237976, + -1.5572154521942139 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The robot arm is positioned over the fallen basil bottle inside the cardboard fence, with the gripper open and aligned near the bottle's base. Initial contact has been made, and the gripper is preparing to close. The next action is to grasp the bottle base securely to enable lifting and upright rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper closed; then move left 2 cm, move up 8 cm, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2558073103427887, + -0.1366836577653885, + 0.012584822252392769, + -3.122044324874878, + 0.011560430750250816, + -1.5375529527664185 + ], + "gripper_value": 0.8580558896064758 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The robot arm is positioned over the fallen basil bottle inside the cardboard fence, with the gripper open and aligned near the bottle's base. Initial contact has been made, and the gripper is preparing to close. The next action is to grasp the bottle base securely to enable lifting and upright rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move left 2 cm, move up 8 cm, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25522464513778687, + -0.13431310653686523, + 0.013956303708255291, + -3.1086394786834717, + 0.007261919789016247, + -1.5393809080123901 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Grasp bottle base", + "subtask_reasoning": "The robot arm is positioned over the fallen basil bottle inside the cardboard fence, with the gripper open and aligned near the bottle's base. Initial contact has been made, and the gripper is preparing to close. The next action is to grasp the bottle base securely to enable lifting and upright rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper closed; then move left 2 cm, move up 8 cm, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.25090089440345764, + -0.12505455315113068, + 0.025189338251948357, + 3.139280319213867, + -0.0246196947991848, + -1.5350691080093384 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Lift and rotate bottle upright", + "subtask_reasoning": "The robot arm is positioned over the fallen basil bottle inside the cardboard fence, with the gripper open and aligned near the bottle's base. Initial contact has been made, and the gripper is preparing to close. The next action is to grasp the bottle base securely to enable lifting and upright rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 8 cm, tilt back 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.25182393193244934, + -0.11985068768262863, + 0.0529789961874485, + 3.132059335708618, + -0.10416094958782196, + -1.5333341360092163 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Lift and rotate bottle upright", + "subtask_reasoning": "The robot's end-effector is in contact with the base of the fallen basil bottle inside the cardboard fence. The gripper remains open as no closing evidence exists for this segment, indicating the robot is pushing or nudging the bottle rather than grasping it. The next action involves continuing to apply force to rotate the bottle toward an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.25154927372932434, + -0.112223781645298, + 0.07647973299026489, + 3.1359097957611084, + -0.1722273975610733, + -1.51527738571167 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow object": [ + 743, + 469, + 834, + 612 + ], + "red jar": [ + 480, + 524, + 756, + 713 + ], + "orange bowl": [ + 370, + 257, + 563, + 483 + ] + } + } + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Lift and rotate bottle upright", + "subtask_reasoning": "The robot's end-effector is in contact with the base of the fallen basil bottle inside the cardboard fence. The gripper remains open as no closing evidence exists for this segment, indicating the robot is pushing or nudging the bottle rather than grasping it. The next action involves continuing to apply force to rotate the bottle toward an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.25139862298965454, + -0.10608883947134018, + 0.09188161045312881, + 3.128575325012207, + -0.2616909146308899, + -1.5195392370224 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Lift and rotate bottle upright", + "subtask_reasoning": "The robot's end-effector is in contact with the base of the fallen basil bottle inside the cardboard fence. The gripper remains open as no closing evidence exists for this segment, indicating the robot is pushing or nudging the bottle rather than grasping it. The next action involves continuing to apply force to rotate the bottle toward an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.25527212023735046, + -0.10251595824956894, + 0.10190244764089584, + -3.0968971252441406, + -0.35349681973457336, + -1.5433894395828247 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Place bottle upright and release", + "subtask_reasoning": "The robot's end-effector is in contact with the base of the fallen basil bottle inside the cardboard fence. The gripper remains open as no closing evidence exists for this segment, indicating the robot is pushing or nudging the bottle rather than grasping it. The next action involves continuing to apply force to rotate the bottle toward an upright position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.25709402561187744, + -0.09518652409315109, + 0.09960439801216125, + -3.07704758644104, + -0.38555458188056946, + -1.5426201820373535 + ], + "gripper_value": 0.8634164333343506 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Place bottle upright and release", + "subtask_reasoning": "The basil bottle is currently held upright inside the cardboard fence, with the gripper maintaining contact. The bottle has been successfully rotated and positioned vertically. The next action is to release the bottle by opening the gripper while ensuring it remains stable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25795868039131165, + -0.09071812033653259, + 0.0978979617357254, + -3.0833353996276855, + -0.3651674687862396, + -1.529236078262329 + ], + "gripper_value": 0.9206693768501282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Place bottle upright and release", + "subtask_reasoning": "The basil bottle is currently held upright inside the cardboard fence, with the gripper maintaining contact. The bottle has been successfully rotated and positioned vertically. The next action is to release the bottle by opening the gripper while ensuring it remains stable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628762423992157, + -0.09102556109428406, + 0.10227731615304947, + -3.0862247943878174, + -0.3184332251548767, + -1.514763593673706 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Upright the basil bottle inside the cardboard fence." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and align with bottle" + }, + { + "id": 2, + "subtask": "Make initial contact and stabilize" + }, + { + "id": 3, + "subtask": "Reposition gripper for grip" + }, + { + "id": 4, + "subtask": "Grasp bottle base" + }, + { + "id": 5, + "subtask": "Lift and rotate bottle upright" + }, + { + "id": 6, + "subtask": "Place bottle upright and release" + } + ], + "subtask_name": "Place bottle upright and release", + "subtask_reasoning": "The basil bottle is currently held upright inside the cardboard fence, with the gripper maintaining contact. The bottle has been successfully rotated and positioned vertically. The next action is to release the bottle by opening the gripper while ensuring it remains stable." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000938_ecot.json b/cot/chunk-0000/episode_0000938_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5cdbc23deb746b710ebe02308689d9a5bcae48ea --- /dev/null +++ b/cot/chunk-0000/episode_0000938_ecot.json @@ -0,0 +1,2345 @@ +{ + "task_name": "episode_0000938", + "episode_json": "json/chunk-0000/episode_0000938.json", + "video_path": "videos/chunk-0000/image_0/episode_0000938.mp4", + "instruction": "Move the yellow cloth to the bottom right corner of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000938.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9474126100540161, + "std": 0.24004921317100525, + "delta_total": -0.8050512075424194, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94741, std=0.24005, total_delta=-0.80505). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 0, + 100, + 103, + 3, + 3, + 3, + 3, + 3, + 3, + 3, + 3, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203, + 203 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 1 + ], + [ + 3, + 2, + 2 + ], + [ + 4, + 3, + 3 + ], + [ + 5, + 4, + 11 + ], + [ + 6, + 12, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector down toward the yellow cloth without grasping.\"},\n {\"id\": 2, \"name\": \"make contact\", \"start\": 3, \"end\": 4, \"planning\": \"Lower the gripper to make contact with the cloth surface.\"},\n {\"id\": 3, \"name\": \"close gripper\", \"start\": 5, \"end\": 11, \"planning\": \"Close the gripper fingers to secure the cloth for manipulation.\"},\n {\"id\": 4, \"name\": \"drag cloth\", \"start\": 12, \"end\": 32, \"planning\": \"Drag the cloth across the table toward the bottom right corner while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release cloth\", \"start\": 33, \"end\": 33, \"planning\": \"Open the gripper to release the cloth at the target position.\"}\n ],\n \"global_plan\": \"Approach the yellow cloth, make contact, close gripper to grasp, drag it to the bottom right corner, then release.\",\n \"notes\": \"Segment 1-4 show no meaningful closing; only approach and contact are described. Segment 5 shows closing motion leading to grasp. Segment 6 includes dragging and final release.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 2, + "planning": "Move the end-effector down toward the yellow cloth without grasping." + }, + { + "id": 2, + "name": "make contact", + "start": 3, + "end": 4, + "planning": "Lower the gripper to make contact with the cloth surface." + }, + { + "id": 3, + "name": "close gripper", + "start": 5, + "end": 11, + "planning": "Close the gripper fingers to secure the cloth for manipulation." + }, + { + "id": 4, + "name": "drag cloth", + "start": 12, + "end": 32, + "planning": "Drag the cloth across the table toward the bottom right corner while maintaining grip." + }, + { + "id": 5, + "name": "release cloth", + "start": 33, + "end": 33, + "planning": "Open the gripper to release the cloth at the target position." + } + ], + "global_plan": "Approach the yellow cloth, make contact, close gripper to grasp, drag it to the bottom right corner, then release.", + "notes": "Segment 1-4 show no meaningful closing; only approach and contact are described. Segment 5 shows closing motion leading to grasp. Segment 6 includes dragging and final release." + } + }, + "episode_goal": "Move the yellow cloth to the bottom right corner of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24599266052246094, + 0.04716057330369949, + 0.06220785155892372, + 3.1326475143432617, + -0.15623772144317627, + 0.6459684371948242 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to make contact. No part of the task has been completed yet. The next action should be to lower the gripper to establish contact with the cloth in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 2 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24222725629806519, + 0.046409331262111664, + 0.056034188717603683, + -3.1392290592193604, + -0.13403353095054626, + 0.6405754089355469 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to make contact. No part of the task has been completed yet. The next action should be to lower the gripper to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 3 cm, move right 1 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23632577061653137, + 0.046967051923274994, + 0.04833192750811577, + 3.1411356925964355, + -0.12810944020748138, + 0.5953704714775085 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the yellow cloth on the table, with the gripper open and ready to make contact. No part of the task has been completed yet. The next action should be to lower the gripper to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.23552343249320984, + 0.05057472363114357, + 0.0436418391764164, + 3.1398961544036865, + -0.13944301009178162, + 0.5823751091957092 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "make contact", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23084208369255066, + 0.05553627014160156, + 0.03185053914785385, + -3.106806755065918, + -0.13964781165122986, + 0.5666417479515076 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "make contact", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.22420619428157806, + 0.05605126544833183, + 0.012608703225851059, + -3.077341318130493, + -0.16834226250648499, + 0.5604870915412903 + ], + "gripper_value": 0.05403778702020645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "close gripper", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 5, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22250805795192719, + 0.05390562117099762, + 0.00217516184784472, + -3.1222941875457764, + -0.1937633603811264, + 0.5854026675224304 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 138, + 499, + 590, + 907 + ], + "red pot": [ + 734, + 309, + 991, + 543 + ], + "can": [ + 741, + 536, + 976, + 884 + ], + "table": [ + 4, + 138, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "close gripper", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move forward 7 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 5, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22444559633731842, + 0.056517332792282104, + -0.00702127767726779, + -3.1375231742858887, + -0.20629489421844482, + 0.5737725496292114 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "close gripper", + "subtask_reasoning": "The robot has approached the yellow cloth and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper to establish contact with the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move right 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 5, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22984831035137177, + 0.060216065496206284, + -0.012339617125689983, + -3.1301398277282715, + -0.19207480549812317, + 0.5886987447738647 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "close gripper", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 11 cm, move right 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 5, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2373194396495819, + 0.06057329475879669, + -0.020274657756090164, + -3.112460136413574, + -0.20409800112247467, + 0.6086366772651672 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "close gripper", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, keep gripper closed; then move forward 13 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 5, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2465367615222931, + 0.05799800530076027, + -0.023606617003679276, + -3.11154842376709, + -0.20848539471626282, + 0.6052907705307007 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "close gripper", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper closed; then move forward 13 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 5, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590952515602112, + 0.05071079358458519, + -0.024523772299289703, + -3.126593828201294, + -0.22387799620628357, + 0.6351044178009033 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "close gripper", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 14 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 5, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27128297090530396, + 0.046360861510038376, + -0.02270187996327877, + 3.135105848312378, + -0.22694678604602814, + 0.6693834662437439 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874487638473511, + 0.03845789656043053, + -0.019274607300758362, + 3.1039795875549316, + -0.206028014421463, + 0.7216826677322388 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 2 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30497676134109497, + 0.032042913138866425, + -0.015355107374489307, + 3.0866966247558594, + -0.20879140496253967, + 0.7496088147163391 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow cloth": [ + 258, + 357, + 670, + 785 + ], + "can": [ + 745, + 535, + 980, + 887 + ], + "red pot": [ + 735, + 306, + 992, + 542 + ], + "table": [ + 5, + 122, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 3 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.32149821519851685, + 0.02877327799797058, + -0.018001671880483627, + 3.079724073410034, + -0.1994667500257492, + 0.7875954508781433 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3385556638240814, + 0.02460593730211258, + -0.016865096986293793, + 3.05985426902771, + -0.22162750363349915, + 0.8221532702445984 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585682809352875, + 0.028737174347043037, + -0.018645664677023888, + 3.051589250564575, + -0.2548027038574219, + 0.8591623902320862 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38019976019859314, + 0.03402739763259888, + -0.018213072791695595, + 3.0478665828704834, + -0.28300243616104126, + 0.9086868762969971 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3978508710861206, + 0.03733997046947479, + -0.016708703711628914, + 3.035006284713745, + -0.28903523087501526, + 0.9404489398002625 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pot": [ + 736, + 310, + 992, + 543 + ], + "yellow cloth": [ + 391, + 250, + 724, + 582 + ], + "spatula": [ + 51, + 288, + 262, + 590 + ], + "table": [ + 27, + 121, + 994, + 994 + ], + "can": [ + 279, + 206, + 421, + 419 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 9 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4060474634170532, + 0.042430389672517776, + -0.015221384353935719, + 3.0149126052856445, + -0.3209841847419739, + 0.9712897539138794 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.408361554145813, + 0.04438187927007675, + -0.013371561653912067, + 3.002371072769165, + -0.31804555654525757, + 0.9856833815574646 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot end-effector is in contact with the yellow cloth on the table. Although the gripper signal shows minimal change in this segment, the subtask is to close the gripper to secure the cloth. The next action is to actuate the gripper to grasp the cloth before dragging it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4022078216075897, + 0.04905503988265991, + -0.014729187823832035, + 3.0222527980804443, + -0.2853690981864929, + 1.0061371326446533 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 9 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39156025648117065, + 0.055828340351581573, + -0.007175745442509651, + 3.05342435836792, + -0.23700524866580963, + 1.0523308515548706 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 9 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3893103003501892, + 0.062154512852430344, + 0.00985672976821661, + 3.0459020137786865, + -0.23660001158714294, + 1.0872794389724731 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 7 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3927163779735565, + 0.06267543137073517, + 0.016597891226410866, + 3.0372025966644287, + -0.23460827767848969, + 1.1233669519424438 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 7 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39240458607673645, + 0.059803519397974014, + 0.03250661492347717, + 3.021329641342163, + -0.2190452516078949, + 1.1402244567871094 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 5 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3908478021621704, + 0.054828476160764694, + 0.04992816224694252, + 2.981718063354492, + -0.2738021910190582, + 1.1782609224319458 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pot": [ + 735, + 309, + 992, + 543 + ], + "spatula": [ + 51, + 288, + 262, + 592 + ], + "table": [ + 5, + 121, + 994, + 994 + ], + "can": [ + 279, + 206, + 420, + 419 + ], + "yellow cloth": [ + 391, + 222, + 692, + 546 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.38885700702667236, + 0.0522543266415596, + 0.06104148551821709, + 2.976064443588257, + -0.27549973130226135, + 1.2019819021224976 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.39167019724845886, + 0.05038974806666374, + 0.07208652049303055, + 2.988879442214966, + -0.2516138553619385, + 1.2105283737182617 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3941073417663574, + 0.0506594218313694, + 0.07783161848783493, + 2.9877359867095947, + -0.2419125735759735, + 1.2222261428833008 + ], + "gripper_value": 0.05166913568973541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39033278822898865, + 0.045588865876197815, + 0.07665248215198517, + 3.0071072578430176, + -0.21064451336860657, + 1.2025717496871948 + ], + "gripper_value": 0.051409780979156494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.38580620288848877, + 0.026987558230757713, + 0.0751708596944809, + 3.0377161502838135, + -0.18073256313800812, + 1.1541327238082886 + ], + "gripper_value": 0.06325549632310867 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "drag cloth", + "subtask_reasoning": "The robot is currently in contact with the yellow cloth, having completed the approach and initial grasp phases. The gripper is closed and the end-effector is positioned over the cloth, ready to initiate movement. The next action is to drag the cloth toward the bottom right corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3883448839187622, + -0.008639582432806492, + 0.08447189629077911, + 3.052518129348755, + -0.17298416793346405, + 1.0673893690109253 + ], + "gripper_value": 0.19377118349075317 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow cloth to the bottom right corner of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact" + }, + { + "id": 3, + "subtask": "close gripper" + }, + { + "id": 4, + "subtask": "drag cloth" + }, + { + "id": 5, + "subtask": "release cloth" + } + ], + "subtask_name": "release cloth", + "subtask_reasoning": "The yellow cloth is positioned on the table, and the gripper is open and not in contact with it. The subtask of releasing the cloth has been completed as the cloth is no longer held. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 33, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000939_ecot.json b/cot/chunk-0000/episode_0000939_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..399a3190d369e7eee20b27ba807f0ecf51f488be --- /dev/null +++ b/cot/chunk-0000/episode_0000939_ecot.json @@ -0,0 +1,1520 @@ +{ + "task_name": "episode_0000939", + "episode_json": "json/chunk-0000/episode_0000939.json", + "video_path": "videos/chunk-0000/image_0/episode_0000939.mp4", + "instruction": "Move the yellow brush to the bottom right of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000939.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.6585883498191833, + "std": 0.3064211308956146, + "delta_total": -0.03643512725830078, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65859, std=0.30642, total_delta=-0.03644). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 210, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 9 + ], + [ + 4, + 10, + 20 + ], + [ + 5, + 21, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach brush area\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the yellow brush on the cloth without closing gripper.\"},\n {\"id\": 2, \"name\": \"position for contact\", \"start\": 5, \"end\": 9, \"planning\": \"Adjust pose to align with brush handle and prepare for physical interaction.\"},\n {\"id\": 3, \"name\": \"grasp and drag brush\", \"start\": 10, \"end\": 20, \"planning\": \"Close gripper to secure brush, then slide it across table toward bottom right corner.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 21, \"end\": 22, \"planning\": \"Open gripper to release brush at target location and lift end-effector slightly.\"}\n ],\n \"global_plan\": \"Approach the yellow brush, grasp it securely, drag it to the bottom right of the table, then release and retreat.\",\n \"notes\": \"Gripper closure confirmed in segments 4 and 5; segments 1-3 show no closing so described as approach/positioning only. Motion and image evidence support dragging action during grasp phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach brush area", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the yellow brush on the cloth without closing gripper." + }, + { + "id": 2, + "name": "position for contact", + "start": 5, + "end": 9, + "planning": "Adjust pose to align with brush handle and prepare for physical interaction." + }, + { + "id": 3, + "name": "grasp and drag brush", + "start": 10, + "end": 20, + "planning": "Close gripper to secure brush, then slide it across table toward bottom right corner." + }, + { + "id": 4, + "name": "release and retreat", + "start": 21, + "end": 22, + "planning": "Open gripper to release brush at target location and lift end-effector slightly." + } + ], + "global_plan": "Approach the yellow brush, grasp it securely, drag it to the bottom right of the table, then release and retreat.", + "notes": "Gripper closure confirmed in segments 4 and 5; segments 1-3 show no closing so described as approach/positioning only. Motion and image evidence support dragging action during grasp phase." + } + }, + "episode_goal": "Move the yellow brush to the bottom right of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29723161458969116, + 0.21036958694458008, + 0.06014646589756012, + -3.1329572200775146, + -0.07952507585287094, + 0.04327639192342758 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach brush area", + "subtask_reasoning": "The robot is positioned above the table with the yellow brush visible on a cloth in the center. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2968134880065918, + 0.20816709101200104, + 0.04957390949130058, + 3.1315932273864746, + -0.05674208328127861, + 0.045953553169965744 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach brush area", + "subtask_reasoning": "The robot is positioned above the table with the yellow brush visible on a cloth in the center. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30921536684036255, + 0.19024598598480225, + 0.043722640722990036, + 3.13104248046875, + -0.05117040127515793, + -0.007184900809079409 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach brush area", + "subtask_reasoning": "The robot is positioned above the table with the yellow brush visible on a cloth in the center. No actions have been completed yet as the gripper remains open and stationary relative to the brush. The next step is to move the end-effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.32607361674308777, + 0.1569599211215973, + 0.044566091150045395, + 3.125450372695923, + -0.04443506896495819, + -0.08251906931400299 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach brush area", + "subtask_reasoning": "The robot is positioned above the table with the yellow brush visible on a cloth in the center. No actions have been completed yet as the gripper remains open and stationary relative to the brush. The next step is to move the end-effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 7 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34127673506736755, + 0.12216201424598694, + 0.04615240544080734, + 3.1390819549560547, + -0.03252146393060684, + -0.12821364402770996 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach brush area", + "subtask_reasoning": "The robot is positioned above the table with the yellow brush visible on a cloth in the center. No actions have been completed yet as the gripper remains open and stationary relative to the brush. The next step is to move the end-effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move right 3 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36739039421081543, + 0.09126175940036774, + 0.0384981632232666, + -3.126283645629883, + -0.035264160484075546, + -0.09841298311948776 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "position for contact", + "subtask_reasoning": "The robot is positioned above the table with the yellow brush visible on a cloth in the center. No actions have been completed yet as the gripper remains open and stationary relative to the brush. The next step is to move the end-effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move right 6 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3805811107158661, + 0.09148689359426498, + 0.02301582507789135, + -3.1180551052093506, + -0.038760941475629807, + 0.006317835301160812 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 82, + 272, + 300, + 493 + ], + "wooden countertop": [ + 5, + 199, + 844, + 988 + ], + "yellow cloth": [ + 310, + 287, + 551, + 484 + ], + "can": [ + 609, + 333, + 758, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "position for contact", + "subtask_reasoning": "The robot is positioned above the table with the yellow brush visible on a cloth in the center. No actions have been completed yet as the gripper remains open and stationary relative to the brush. The next step is to move the end-effector closer to the yellow brush to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 5 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876934051513672, + 0.09632169455289841, + 0.002295552985742688, + -3.1215415000915527, + -0.007228294853121042, + 0.048697441816329956 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 82, + 271, + 302, + 493 + ], + "wooden countertop": [ + 5, + 200, + 843, + 988 + ], + "yellow cloth": [ + 310, + 288, + 551, + 485 + ], + "can": [ + 609, + 333, + 758, + 509 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "position for contact", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 6 cm, move right 12 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38812676072120667, + 0.09936495870351791, + 0.002635227283462882, + -3.121661901473999, + -0.01338871382176876, + 0.05093374103307724 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "position for contact", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 8 cm, move right 15 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38476020097732544, + 0.09742377698421478, + -4.499773422139697e-05, + -3.133680582046509, + -0.02498253621160984, + 0.03812927007675171 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "position for contact", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 8 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3800549805164337, + 0.09829049557447433, + 0.006926647387444973, + 3.138660192489624, + -0.03848986700177193, + 0.032076820731163025 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769066333770752, + 0.0974377691745758, + 0.010697602294385433, + 3.125359058380127, + -0.04672379046678543, + 0.028626713901758194 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 16 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3728984296321869, + 0.0959450751543045, + 0.026339828968048096, + 3.103695869445801, + -0.09140004217624664, + 0.030121609568595886 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 16 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3652505576610565, + 0.08997970074415207, + 0.03630167990922928, + 3.0872962474823, + -0.11402419209480286, + 0.012449223548173904 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 16 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35328173637390137, + 0.070012666285038, + 0.04628116264939308, + 3.083275318145752, + -0.14208737015724182, + -0.046921245753765106 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, having completed the approach phase. The gripper is currently open and aligned for interaction. The next action is to close the gripper to establish contact and grasp the brush." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 14 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.33820950984954834, + 0.039580777287483215, + 0.036486100405454636, + 3.0811829566955566, + -0.12102954089641571, + -0.13114579021930695 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, with the gripper open and ready for contact. The approach phase is complete, and the system is prepared to initiate grasping. The next action is to close the gripper to secure the brush before dragging it to the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 11 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254828155040741, + 0.004299755208194256, + 0.02138373628258705, + 3.095919609069824, + -0.08794722706079483, + -0.22302445769309998 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, with the gripper open and ready for contact. The approach phase is complete, and the system is prepared to initiate grasping. The next action is to close the gripper to secure the brush before dragging it to the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159923851490021, + -0.02569114789366722, + 0.011900261044502258, + 3.1055753231048584, + -0.07557915896177292, + -0.2777979075908661 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 82, + 268, + 305, + 492 + ], + "can": [ + 618, + 329, + 755, + 507 + ], + "yellow cloth": [ + 311, + 264, + 508, + 488 + ], + "wooden countertop": [ + 5, + 206, + 842, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, with the gripper open and ready for contact. The approach phase is complete, and the system is prepared to initiate grasping. The next action is to close the gripper to secure the brush before dragging it to the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 2 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024212419986725, + -0.05033876374363899, + -0.004345094785094261, + 3.1054604053497314, + -0.028325390070676804, + -0.30124616622924805 + ], + "gripper_value": 0.34288913011550903 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, with the gripper open and ready for contact. The approach phase is complete, and the system is prepared to initiate grasping. The next action is to close the gripper to secure the brush before dragging it to the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, rotate clockwise 10 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2972797751426697, + -0.05988246947526932, + -0.006205169018357992, + 3.0890541076660156, + -0.02235274761915207, + -0.27143123745918274 + ], + "gripper_value": 0.34288913011550903 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, with the gripper open and ready for contact. The approach phase is complete, and the system is prepared to initiate grasping. The next action is to close the gripper to secure the brush before dragging it to the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29228341579437256, + -0.06387145072221756, + -0.007536389399319887, + 3.071920871734619, + -0.011428484693169594, + -0.23768748342990875 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and drag brush", + "subtask_reasoning": "The robot end-effector is positioned directly above the yellow brush on the table, with the gripper open and ready for contact. The approach phase is complete, and the system is prepared to initiate grasping. The next action is to close the gripper to secure the brush before dragging it to the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28397926688194275, + -0.06561248004436493, + -0.005219412036240101, + 3.062258720397949, + 0.010189924389123917, + -0.20831017196178436 + ], + "gripper_value": 0.6911999583244324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow brush is positioned at the bottom right of the table, and the gripper is open, indicating the release phase is complete. The robot is now in the retreat phase, moving away from the brush to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852669656276703, + -0.06486798822879791, + 0.012744910083711147, + 3.0689337253570557, + -0.02794312685728073, + -0.19442155957221985 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the yellow brush to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brush area" + }, + { + "id": 2, + "subtask": "position for contact" + }, + { + "id": 3, + "subtask": "grasp and drag brush" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The yellow brush is positioned at the bottom right of the table, and the gripper is open, indicating the release phase is complete. The robot is now in the retreat phase, moving away from the brush to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000943_ecot.json b/cot/chunk-0000/episode_0000943_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bad7c156ba317bac83eda8439f935889cabb2cdd --- /dev/null +++ b/cot/chunk-0000/episode_0000943_ecot.json @@ -0,0 +1,2026 @@ +{ + "task_name": "episode_0000943", + "episode_json": "json/chunk-0000/episode_0000943.json", + "video_path": "videos/chunk-0000/image_0/episode_0000943.mp4", + "instruction": "Put the red arch on top of the blue rectangular block.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000943.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.40581053495407104, + "std": 0.19218987226486206, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40581, std=0.19219, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 20 + ], + [ + 3, + 21, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red arch\", \"start\": 0, \"end\": 17, \"planning\": \"Move the gripper down toward the red arch block on the table and close the gripper to make contact.\"},\n {\"id\": 2, \"name\": \"reposition gripper\", \"start\": 18, \"end\": 20, \"planning\": \"Adjust the gripper position slightly while maintaining contact with the red arch, preparing for lift or placement.\"},\n {\"id\": 3, \"name\": \"place red arch on blue block\", \"start\": 21, \"end\": 33, \"planning\": \"Lift the red arch and move it over the blue rectangular block, then release the gripper to place it on top.\"}\n ],\n \"global_plan\": \"Approach and grasp the red arch, reposition slightly, then lift and place it on top of the blue rectangular block.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta ~ -0.4), consistent with grasping. Segment 2 has no gripper change — treated as repositioning without release. Segment 3 shows gripper opening at end (delta ~ +0.4), consistent with releasing after placement.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red arch", + "start": 0, + "end": 17, + "planning": "Move the gripper down toward the red arch block on the table and close the gripper to make contact." + }, + { + "id": 2, + "name": "reposition gripper", + "start": 18, + "end": 20, + "planning": "Adjust the gripper position slightly while maintaining contact with the red arch, preparing for lift or placement." + }, + { + "id": 3, + "name": "place red arch on blue block", + "start": 21, + "end": 33, + "planning": "Lift the red arch and move it over the blue rectangular block, then release the gripper to place it on top." + } + ], + "global_plan": "Approach and grasp the red arch, reposition slightly, then lift and place it on top of the blue rectangular block.", + "notes": "Segment 1 shows meaningful gripper closing (delta ~ -0.4), consistent with grasping. Segment 2 has no gripper change — treated as repositioning without release. Segment 3 shows gripper opening at end (delta ~ +0.4), consistent with releasing after placement." + } + }, + "episode_goal": "Place the red arch block on top of the blue rectangular block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4030167758464813, + 0.0688004270195961, + 0.090787872672081, + -3.007638931274414, + -0.4467235207557678, + 0.5162885189056396 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 11 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.4005320370197296, + 0.06767074763774872, + 0.07627330720424652, + -2.9942760467529297, + -0.40898340940475464, + 0.5076655149459839 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 10 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39458122849464417, + 0.0671258345246315, + 0.06827159970998764, + -2.9888134002685547, + -0.3470135033130646, + 0.41655775904655457 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 9 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38743025064468384, + 0.07863093167543411, + 0.06334271281957626, + -2.988544464111328, + -0.29561471939086914, + 0.3510647714138031 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 10 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37728890776634216, + 0.08112509548664093, + 0.05497086048126221, + -2.9877796173095703, + -0.23457083106040955, + 0.2565670907497406 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 9 cm, rotate counterclockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3645686209201813, + 0.09033165127038956, + 0.038534022867679596, + -3.0022168159484863, + -0.2095460295677185, + 0.1694655865430832 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 69, + 462, + 813, + 995 + ], + "white cylinder": [ + 201, + 468, + 293, + 671 + ], + "brown cylinder": [ + 349, + 807, + 466, + 951 + ], + "blue rectangular block": [ + 629, + 663, + 699, + 817 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35474833846092224, + 0.09425351768732071, + 0.027167493477463722, + -2.984750509262085, + -0.24665923416614532, + 0.05768687650561333 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524382710456848, + 0.10012149065732956, + 0.017474636435508728, + -2.940803050994873, + -0.2972947359085083, + -0.008087627589702606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the red arch block. No contact or grasp has occurred yet. The next action is to move the gripper closer to the red arch to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3573351502418518, + 0.10548729449510574, + 0.010576318949460983, + -2.9142746925354004, + -0.33193325996398926, + -0.03653991222381592 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3588676452636719, + 0.10555752366781235, + -0.0037641357630491257, + -2.925708293914795, + -0.2915382385253906, + -0.038653578609228134 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 71, + 461, + 813, + 996 + ], + "brown cylinder": [ + 348, + 807, + 466, + 951 + ], + "white cylinder": [ + 201, + 468, + 293, + 671 + ], + "blue rectangular block": [ + 629, + 663, + 699, + 816 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36235758662223816, + 0.10646861046552658, + -0.015573848970234394, + -2.9418458938598633, + -0.24274614453315735, + -0.025010161101818085 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36430230736732483, + 0.1049327701330185, + -0.021320048719644547, + -2.9598686695098877, + -0.21950097382068634, + -0.027036437764763832 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36578044295310974, + 0.1041618064045906, + -0.02641085907816887, + -2.9869909286499023, + -0.19012019038200378, + -0.03305557370185852 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36487892270088196, + 0.1149720847606659, + -0.033141832798719406, + -2.990185499191284, + -0.1675860732793808, + -0.013789676129817963 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3657367527484894, + 0.12125024199485779, + -0.03848401457071304, + -2.970062494277954, + -0.1373792588710785, + 0.0009707789868116379 + ], + "gripper_value": 0.8092992901802063 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.364779531955719, + 0.12321359664201736, + -0.03870005905628204, + -2.980285167694092, + -0.1396908015012741, + 0.019369952380657196 + ], + "gripper_value": 0.6029031276702881 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3631822466850281, + 0.1183672770857811, + -0.025166019797325134, + -3.018289804458618, + -0.1489574909210205, + 0.0706530213356018 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36703985929489136, + 0.10521990805864334, + 0.007043080870062113, + -3.1156861782073975, + -0.18846222758293152, + 0.14174561202526093 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "approach red arch", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.37087491154670715, + 0.09374629706144333, + 0.03515440970659256, + 3.1196303367614746, + -0.23175376653671265, + 0.21772438287734985 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "reposition gripper", + "subtask_reasoning": "The robot arm is positioned above the wooden surface with the red arch block visible below. The gripper is open and approaching the red arch, indicating the start of the approach phase. No contact has been made yet, so the next action is to continue moving the gripper closer to the red arch for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3752339482307434, + 0.07158347219228745, + 0.04307844862341881, + 3.1189327239990234, + -0.21220456063747406, + 0.2620527446269989 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "reposition gripper", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869609832763672, + 0.05944662168622017, + 0.05074048414826393, + 3.105640172958374, + -0.2383916974067688, + 0.33757033944129944 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "reposition gripper", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, keep gripper closed; then move forward 3 cm, move right 3 cm, move down 4 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3950725495815277, + 0.04087017476558685, + 0.03159370645880699, + -3.136090040206909, + -0.19574986398220062, + 0.3755199909210205 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.40586715936660767, + 0.026030587032437325, + 0.02257448434829712, + -3.0884206295013428, + -0.21126271784305573, + 0.38307878375053406 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.40868228673934937, + 0.02035505324602127, + 0.004961988423019648, + -3.05461049079895, + -0.18446268141269684, + 0.369957834482193 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 176, + 466, + 812, + 995 + ], + "brown cylinder": [ + 348, + 806, + 466, + 951 + ], + "white cylinder": [ + 211, + 470, + 297, + 674 + ], + "blue rectangular block": [ + 628, + 696, + 699, + 817 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4124242663383484, + 0.01562562771141529, + -0.004707954823970795, + -3.0362067222595215, + -0.17725303769111633, + 0.35229676961898804 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.41410359740257263, + 0.009333369322121143, + -0.0066819023340940475, + -3.0269715785980225, + -0.16752082109451294, + 0.33216533064842224 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "brown cylinder": [ + 348, + 806, + 467, + 953 + ], + "wooden table": [ + 205, + 463, + 814, + 995 + ], + "blue rectangular block": [ + 630, + 766, + 693, + 817 + ] + } + } + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4160544276237488, + 0.008752851746976376, + -0.007478857878595591, + -3.0242884159088135, + -0.16125363111495972, + 0.33678677678108215 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The gripper is positioned above the red arch block on the table, having completed the approach phase. No grasping has occurred yet as the gripper remains open. The next action is to close the gripper to grasp the red arch." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.41757863759994507, + 0.008624852634966373, + -0.007098511792719364, + -3.0226690769195557, + -0.15538135170936584, + 0.33941102027893066 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The red arch is currently positioned above the blue rectangular block, with the gripper holding it in place. The arm has completed the approach and repositioning phases. The next action is to release the red arch onto the blue block to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.42174032330513, + 0.009502860717475414, + -0.008573412895202637, + -3.022303342819214, + -0.16108427941799164, + 0.3425496816635132 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The red arch is currently positioned above the blue rectangular block, with the gripper holding it in place. The arm has completed the approach and repositioning phases. The next action is to release the red arch onto the blue block to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4241931736469269, + 0.010200845077633858, + -0.009369315579533577, + -3.01450514793396, + -0.16902974247932434, + 0.3327166438102722 + ], + "gripper_value": 0.6009007096290588 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The red arch is currently positioned above the blue rectangular block, with the gripper holding it in place. The arm has completed the approach and repositioning phases. The next action is to release the red arch onto the blue block to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4244816303253174, + 0.010736819356679916, + -0.011212741956114769, + -3.004640817642212, + -0.17353945970535278, + 0.3390660881996155 + ], + "gripper_value": 0.6951970458030701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The red arch is currently positioned above the blue rectangular block, with the gripper holding it in place. The arm has completed the approach and repositioning phases. The next action is to release the red arch onto the blue block to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4203179180622101, + 0.01178563293069601, + -0.02227233164012432, + -2.9851233959198, + -0.15150299668312073, + 0.33522456884384155 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The red arch is currently positioned above the blue rectangular block, with the gripper holding it in place. The arm has completed the approach and repositioning phases. The next action is to release the red arch onto the blue block to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.415059894323349, + 0.010534793138504028, + -0.026272809132933617, + -2.9860198497772217, + -0.12944558262825012, + 0.3257175385951996 + ], + "gripper_value": 1.0067112445831299 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The red arch is currently positioned above the blue rectangular block, with the gripper holding it in place. The arm has completed the approach and repositioning phases. The next action is to release the red arch onto the blue block to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4120009243488312, + 0.006651518400758505, + -0.01843121461570263, + -3.0099990367889404, + -0.12110952287912369, + 0.31868499517440796 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red arch block on top of the blue rectangular block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red arch" + }, + { + "id": 2, + "subtask": "reposition gripper" + }, + { + "id": 3, + "subtask": "place red arch on blue block" + } + ], + "subtask_name": "place red arch on blue block", + "subtask_reasoning": "The red arch is currently positioned above the blue rectangular block, with the gripper holding it in place. The arm has completed the approach and repositioning phases. The next action is to release the red arch onto the blue block to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000944_ecot.json b/cot/chunk-0000/episode_0000944_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..90f30cf3e8651210bc7c07e63c18690f59e0e027 --- /dev/null +++ b/cot/chunk-0000/episode_0000944_ecot.json @@ -0,0 +1,2453 @@ +{ + "task_name": "episode_0000944", + "episode_json": "json/chunk-0000/episode_0000944.json", + "video_path": "videos/chunk-0000/image_0/episode_0000944.mp4", + "instruction": "Take broccoli out of pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000944.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5596746802330017, + "std": 0.24070711433887482, + "delta_total": 0.018899977207183838, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.55967, std=0.24071, total_delta=0.01890). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 216, + 216, + 16, + 16, + 16, + 116, + 116, + 116, + 116, + 116, + 116, + 127, + 127, + 127, + 127, + 127, + 127, + 127, + 127 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 6 + ], + [ + 4, + 7, + 15 + ], + [ + 5, + 16, + 17 + ], + [ + 6, + 18, + 20 + ], + [ + 7, + 21, + 26 + ], + [ + 8, + 27, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan area\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the pan containing broccoli without closing gripper.\"},\n {\"id\": 2, \"name\": \"position above broccoli\", \"start\": 6, \"end\": 15, \"planning\": \"Adjust pose to align gripper over broccoli in pan, maintaining open gripper state.\"},\n {\"id\": 3, \"name\": \"descend and contact broccoli\", \"start\": 16, \"end\": 20, \"planning\": \"Lower gripper to make physical contact with broccoli; no grasp attempted yet.\"},\n {\"id\": 4, \"name\": \"reposition for secure contact\", \"start\": 21, \"end\": 26, \"planning\": \"Fine-tune position around broccoli to prepare for grasping, still no closure.\"},\n {\"id\": 5, \"name\": \"grasp and lift broccoli\", \"start\": 27, \"end\": 34, \"planning\": \"Close gripper to secure broccoli, then lift it out of pan as confirmed by gripper closure and upward motion.\"}\n ],\n \"global_plan\": \"Approach pan, position above broccoli, descend to contact, reposition for stability, then grasp and lift broccoli out.\",\n \"notes\": \"Gripper only closes meaningfully in segment 8 (frames 27-34), so grasp wording is restricted to that phase. Earlier segments involve positioning and contact only.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan area", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the pan containing broccoli without closing gripper." + }, + { + "id": 2, + "name": "position above broccoli", + "start": 6, + "end": 15, + "planning": "Adjust pose to align gripper over broccoli in pan, maintaining open gripper state." + }, + { + "id": 3, + "name": "descend and contact broccoli", + "start": 16, + "end": 20, + "planning": "Lower gripper to make physical contact with broccoli; no grasp attempted yet." + }, + { + "id": 4, + "name": "reposition for secure contact", + "start": 21, + "end": 26, + "planning": "Fine-tune position around broccoli to prepare for grasping, still no closure." + }, + { + "id": 5, + "name": "grasp and lift broccoli", + "start": 27, + "end": 34, + "planning": "Close gripper to secure broccoli, then lift it out of pan as confirmed by gripper closure and upward motion." + } + ], + "global_plan": "Approach pan, position above broccoli, descend to contact, reposition for stability, then grasp and lift broccoli out.", + "notes": "Gripper only closes meaningfully in segment 8 (frames 27-34), so grasp wording is restricted to that phase. Earlier segments involve positioning and contact only." + } + }, + "episode_goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.32294896245002747, + 0.006408378481864929, + 0.10990346968173981, + -3.139620304107666, + -0.31727081537246704, + -0.08910904079675674 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the play kitchen set, with the end-effector hovering near the pan containing the broccoli. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31795182824134827, + 0.008137131109833717, + 0.1012556254863739, + 3.1303651332855225, + -0.27558785676956177, + -0.07369465380907059 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the play kitchen set, with the end-effector hovering near the pan containing the broccoli. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29928502440452576, + 0.03138355538249016, + 0.09800441563129425, + 3.077258825302124, + -0.16477271914482117, + 0.0418044812977314 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28411832451820374, + 0.06363587826490402, + 0.09751199185848236, + 3.0862109661102295, + -0.1060815379023552, + 0.12766052782535553 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 105, + 335, + 338, + 595 + ], + "red tomato": [ + 454, + 307, + 538, + 416 + ], + "cardboard box": [ + 54, + 182, + 799, + 907 + ], + "orange carrot": [ + 365, + 433, + 440, + 742 + ], + "blue bowl": [ + 577, + 225, + 708, + 350 + ], + "green plate": [ + 469, + 422, + 687, + 640 + ], + "green apple": [ + 196, + 495, + 282, + 584 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move down 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679920494556427, + 0.0876220092177391, + 0.10822650790214539, + 3.125710964202881, + -0.08297017216682434, + 0.19155897200107574 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 2 cm, move down 8 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.25514093041419983, + 0.11684662848711014, + 0.1071750819683075, + 3.13450026512146, + -0.08035463094711304, + 0.2221785932779312 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2413761168718338, + 0.13947318494319916, + 0.09946965426206589, + -3.1325480937957764, + -0.08521230518817902, + 0.2543289065361023 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23360279202461243, + 0.16104397177696228, + 0.08092696964740753, + 3.1300113201141357, + -0.08066876232624054, + 0.2565644681453705 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22406402230262756, + 0.16698409616947174, + 0.07309989631175995, + 3.113056182861328, + -0.08162618428468704, + 0.2725222408771515 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 119, + 337, + 339, + 594 + ], + "red tomato": [ + 453, + 307, + 535, + 415 + ], + "green plate": [ + 468, + 421, + 687, + 641 + ], + "orange carrot": [ + 365, + 433, + 440, + 740 + ], + "cardboard box": [ + 39, + 184, + 802, + 907 + ], + "green apple": [ + 194, + 494, + 282, + 585 + ], + "blue bowl": [ + 576, + 224, + 708, + 351 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22197924554347992, + 0.16745060682296753, + 0.06302482634782791, + 3.129655122756958, + -0.10101303458213806, + 0.2749025225639343 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the pan and broccoli visible below. No actions have been completed yet as this is the initial approach phase. The gripper remains open and the arm is moving toward the pan area. The next action should continue approaching the pan while maintaining gripper openness until proper positioning is achieved." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move forward 2 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21750010550022125, + 0.16585372388362885, + 0.05740656331181526, + 3.1144182682037354, + -0.06501944363117218, + 0.26595339179039 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move right 4 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21945957839488983, + 0.1624370813369751, + 0.044964659959077835, + 3.086148262023926, + -0.06202002987265587, + 0.26859840750694275 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 7 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21955372393131256, + 0.160105362534523, + 0.03321678936481476, + 3.0683305263519287, + -0.05138768255710602, + 0.28070467710494995 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move right 7 cm, move up 8 cm, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2219933122396469, + 0.15690602362155914, + 0.024051783606410027, + 3.0422604084014893, + -0.05561647191643715, + 0.29231691360473633 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 8 cm, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.22209863364696503, + 0.155023992061615, + 0.015578199177980423, + 3.035045862197876, + -0.0501454696059227, + 0.31107261776924133 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move up 8 cm, keep gripper closed; then move forward 1 cm, move right 7 cm, move down 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.21950657665729523, + 0.15307897329330444, + 0.015386388637125492, + 3.037632942199707, + -0.025051681324839592, + 0.3294993042945862 + ], + "gripper_value": 0.7091560959815979 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "position above broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move right 7 cm, move up 8 cm, keep gripper closed; then move right 8 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.21686604619026184, + 0.15159356594085693, + 0.01623367704451084, + 3.0732996463775635, + 0.011519663035869598, + 0.35976746678352356 + ], + "gripper_value": 0.4559463858604431 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "descend and contact broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 8 cm, keep gripper closed; then move right 9 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21634097397327423, + 0.15010952949523926, + 0.029606018215417862, + 3.0980682373046875, + 0.024890873581171036, + 0.33643707633018494 + ], + "gripper_value": 0.472818523645401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "descend and contact broccoli", + "subtask_reasoning": "The robot is positioned above the pan containing the broccoli, having completed the approach phase. The gripper is open and ready, with no contact yet made. The next action is to descend toward the broccoli to establish contact for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 9 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22184902429580688, + 0.15264451503753662, + 0.05162989720702171, + -3.136809825897217, + 0.020411565899848938, + 0.3243221044540405 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "descend and contact broccoli", + "subtask_reasoning": "The robot has approached the pan and positioned above the broccoli. It is now descending toward the broccoli, with gripper motion indicating preparation for contact. The next action is to make physical contact with the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 9 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2320120483636856, + 0.14417259395122528, + 0.0856996551156044, + -3.0669591426849365, + 0.024777274578809738, + 0.3273765742778778 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "descend and contact broccoli", + "subtask_reasoning": "The robot has approached the pan and positioned above the broccoli. It is now descending toward the broccoli, with gripper motion indicating preparation for contact. The next action is to make physical contact with the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 9 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23518510162830353, + 0.11542711406946182, + 0.1045985147356987, + -3.1178231239318848, + 0.002901508705690503, + 0.379225492477417 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "descend and contact broccoli", + "subtask_reasoning": "The robot has approached the pan and positioned above the broccoli. It is now descending toward the broccoli, with gripper motion indicating preparation for contact. The next action is to make physical contact with the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 1 cm, keep gripper closed; then move right 9 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23028835654258728, + 0.0791078507900238, + 0.09387832134962082, + 3.0901241302490234, + -0.015229981392621994, + 0.43910112977027893 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "reposition for secure contact", + "subtask_reasoning": "The robot has approached the pan and positioned above the broccoli. It is now descending toward the broccoli, with gripper motion indicating preparation for contact. The next action is to make physical contact with the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 9 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 8 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23089610040187836, + 0.046420179307460785, + 0.08490306884050369, + 3.0607895851135254, + -0.037495724856853485, + 0.47973087430000305 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "reposition for secure contact", + "subtask_reasoning": "The robot has approached the pan and positioned above the broccoli. It is now descending toward the broccoli, with gripper motion indicating preparation for contact. The next action is to make physical contact with the broccoli to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 4 cm, move up 11 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2395600825548172, + 0.02690786123275757, + 0.06709947437047958, + 2.9713988304138184, + -0.01917884312570095, + 0.48180052638053894 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "reposition for secure contact", + "subtask_reasoning": "The robot end-effector is positioned directly above the broccoli in the pan, having completed the approach and initial positioning. The gripper remains open with no closing motion detected in this segment, indicating preparation for contact rather than grasping. The next action should involve slight downward adjustment to establish stable contact with the broccoli before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 6 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 4 cm, move up 12 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.23907878994941711, + 0.011157568544149399, + 0.042446352541446686, + 2.9010865688323975, + -0.015130201354622841, + 0.4992944598197937 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "reposition for secure contact", + "subtask_reasoning": "The robot end-effector is positioned directly above the broccoli in the pan, having completed the approach and initial positioning. The gripper remains open with no closing motion detected in this segment, indicating preparation for contact rather than grasping. The next action should involve slight downward adjustment to establish stable contact with the broccoli before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 12 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23391461372375488, + -0.002770399209111929, + 0.021021613851189613, + 2.8507258892059326, + 0.0037035096902400255, + 0.5343446135520935 + ], + "gripper_value": 0.4841892421245575 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 107, + 340, + 340, + 599 + ], + "orange carrot": [ + 363, + 520, + 440, + 744 + ], + "cardboard box": [ + 53, + 205, + 800, + 906 + ], + "red tomato": [ + 473, + 302, + 542, + 400 + ], + "blue bowl": [ + 574, + 224, + 708, + 350 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "reposition for secure contact", + "subtask_reasoning": "The robot end-effector is positioned directly above the broccoli in the pan, having completed the approach and initial positioning. The gripper remains open with no closing motion detected in this segment, indicating preparation for contact rather than grasping. The next action should involve slight downward adjustment to establish stable contact with the broccoli before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, open gripper; then move forward 1 cm, move left 3 cm, move up 12 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2299005091190338, + -0.009440813213586807, + 0.010461290366947651, + 2.8323616981506348, + 0.0018766623688861728, + 0.5753600597381592 + ], + "gripper_value": 0.47944000363349915 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 106, + 338, + 359, + 600 + ], + "orange carrot": [ + 365, + 494, + 440, + 743 + ], + "cardboard box": [ + 57, + 221, + 798, + 909 + ], + "red tomato": [ + 474, + 306, + 537, + 413 + ], + "blue bowl": [ + 575, + 224, + 708, + 350 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "reposition for secure contact", + "subtask_reasoning": "The robot end-effector is positioned directly above the broccoli in the pan, having completed the approach and initial positioning. The gripper remains open with no closing motion detected in this segment, indicating preparation for contact rather than grasping. The next action should involve slight downward adjustment to establish stable contact with the broccoli before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move up 12 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.22573912143707275, + -0.014864349737763405, + 0.008457101881504059, + 2.8400301933288574, + -0.022020790725946426, + 0.6477989554405212 + ], + "gripper_value": 0.5521479845046997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot end-effector is positioned directly above the broccoli in the pan, having completed the approach and initial positioning. The gripper remains open with no closing motion detected in this segment, indicating preparation for contact rather than grasping. The next action should involve slight downward adjustment to establish stable contact with the broccoli before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 12 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.22020110487937927, + -0.015751564875245094, + 0.007329797372221947, + 2.8823139667510986, + -0.02347307838499546, + 0.6469275951385498 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot end-effector is positioned directly above the broccoli in the pan, having completed the approach and initial positioning. The gripper remains open with no closing motion detected in this segment, indicating preparation for contact rather than grasping. The next action should involve slight downward adjustment to establish stable contact with the broccoli before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 12 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.22382307052612305, + -0.00861407071352005, + 0.02177095040678978, + 2.9257349967956543, + -0.05203770101070404, + 0.6108847260475159 + ], + "gripper_value": 1.0156210660934448 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot end-effector is positioned directly above the broccoli in the pan, having completed the approach and initial positioning. The gripper remains open with no closing motion detected in this segment, indicating preparation for contact rather than grasping. The next action should involve slight downward adjustment to establish stable contact with the broccoli before attempting to grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 11 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23192405700683594, + 0.007905378937721252, + 0.05357325077056885, + 3.0184669494628906, + -0.0968584269285202, + 0.5866664052009583 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot's gripper is positioned directly above the broccoli inside the pan, with the gripper open and ready to close. The approach and positioning phases are complete, and the current subtask requires closing the gripper to grasp the broccoli before lifting it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23722514510154724, + 0.01966347172856331, + 0.08958204835653305, + 3.088362693786621, + -0.12658320367336273, + 0.5726473927497864 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot's gripper is positioned directly above the broccoli inside the pan, with the gripper open and ready to close. The approach and positioning phases are complete, and the current subtask requires closing the gripper to grasp the broccoli before lifting it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2372606247663498, + 0.022623980417847633, + 0.11442410200834274, + 3.083676815032959, + -0.14833024144172668, + 0.5729732513427734 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot's gripper is positioned directly above the broccoli inside the pan, with the gripper open and ready to close. The approach and positioning phases are complete, and the current subtask requires closing the gripper to grasp the broccoli before lifting it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.23476047813892365, + 0.020679181441664696, + 0.12457410246133804, + 3.106872320175171, + -0.14578531682491302, + 0.5630201697349548 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot's gripper is positioned directly above the broccoli inside the pan, with the gripper open and ready to close. The approach and positioning phases are complete, and the current subtask requires closing the gripper to grasp the broccoli before lifting it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.23489145934581757, + 0.018460597842931747, + 0.12775886058807373, + 3.1227970123291016, + -0.1437636762857437, + 0.562303900718689 + ], + "gripper_value": 1.0143678188323975 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the broccoli in the pan and lift it out, placing it on the counter next to the pan." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "position above broccoli" + }, + { + "id": 3, + "subtask": "descend and contact broccoli" + }, + { + "id": 4, + "subtask": "reposition for secure contact" + }, + { + "id": 5, + "subtask": "grasp and lift broccoli" + } + ], + "subtask_name": "grasp and lift broccoli", + "subtask_reasoning": "The robot's gripper is positioned directly above the broccoli inside the pan, with the gripper open and ready to close. The approach and positioning phases are complete, and the current subtask requires closing the gripper to grasp the broccoli before lifting it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000946_ecot.json b/cot/chunk-0000/episode_0000946_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..25e934efff0a41ff3ad95f65018ff1e8807d089c --- /dev/null +++ b/cot/chunk-0000/episode_0000946_ecot.json @@ -0,0 +1,3055 @@ +{ + "task_name": "episode_0000946", + "episode_json": "json/chunk-0000/episode_0000946.json", + "video_path": "videos/chunk-0000/image_0/episode_0000946.mp4", + "instruction": "Unfold the cloth from bottom right to top left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 42, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000946.json" + }, + "fps": 5.0, + "T_eff": 42, + "gripper_behavior_summary": { + "available": true, + "range": 0.9216009974479675, + "std": 0.42818015813827515, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92160, std=0.42818, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 120, + 120, + 120, + 120, + 120, + 120, + 220, + 220, + 220, + 220, + 220, + 320, + 320, + 320, + 320, + 320, + 320, + 320, + 338, + 338, + 338, + 338 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 19 + ], + [ + 3, + 20, + 25 + ], + [ + 4, + 26, + 30 + ], + [ + 5, + 31, + 37 + ], + [ + 6, + 38, + 41 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the bottom-right corner of the cloth without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"reposition for grasp\", \"start\": 8, \"end\": 19, \"planning\": \"Adjust pose and position to align gripper with cloth edge in preparation for grasping, based on motion clustering indicating setup phase.\"},\n {\"id\": 3, \"name\": \"grasp and lift cloth corner\", \"start\": 20, \"end\": 25, \"planning\": \"Close gripper to grasp the cloth corner and begin lifting it upward and leftward, confirmed by significant gripper closure and visual lift.\"},\n {\"id\": 4, \"name\": \"drag cloth diagonally\", \"start\": 26, \"end\": 30, \"planning\": \"Maintain grip while dragging the cloth diagonally toward top-left, with no further gripper change indicating sustained hold during translation.\"},\n {\"id\": 5, \"name\": \"fine-tune placement\", \"start\": 31, \"end\": 37, \"planning\": \"Make small adjustments to cloth position and orientation near target location, inferred from clustered motion segment suggesting refinement.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 38, \"end\": 41, \"planning\": \"Open gripper to release the cloth and retreat end-effector away, confirmed by increasing gripper value and final pose shift.\"}\n ],\n \"global_plan\": \"Unfold the green cloth by first approaching its bottom-right corner, then grasping and dragging it diagonally toward the top-left, followed by fine adjustments and release to complete unfolding.\",\n \"notes\": \"Subtask boundaries follow provided segment spans except merging frames 8-19 into one repositioning phase since no gripper or image evidence suggests grasping occurred there. Gripper-based verbs are only used where segment-level closure and visual evidence agree (segments 3 and 6).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the bottom-right corner of the cloth without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "reposition for grasp", + "start": 8, + "end": 19, + "planning": "Adjust pose and position to align gripper with cloth edge in preparation for grasping, based on motion clustering indicating setup phase." + }, + { + "id": 3, + "name": "grasp and lift cloth corner", + "start": 20, + "end": 25, + "planning": "Close gripper to grasp the cloth corner and begin lifting it upward and leftward, confirmed by significant gripper closure and visual lift." + }, + { + "id": 4, + "name": "drag cloth diagonally", + "start": 26, + "end": 30, + "planning": "Maintain grip while dragging the cloth diagonally toward top-left, with no further gripper change indicating sustained hold during translation." + }, + { + "id": 5, + "name": "fine-tune placement", + "start": 31, + "end": 37, + "planning": "Make small adjustments to cloth position and orientation near target location, inferred from clustered motion segment suggesting refinement." + }, + { + "id": 6, + "name": "release and retreat", + "start": 38, + "end": 41, + "planning": "Open gripper to release the cloth and retreat end-effector away, confirmed by increasing gripper value and final pose shift." + } + ], + "global_plan": "Unfold the green cloth by first approaching its bottom-right corner, then grasping and dragging it diagonally toward the top-left, followed by fine adjustments and release to complete unfolding.", + "notes": "Subtask boundaries follow provided segment spans except merging frames 8-19 into one repositioning phase since no gripper or image evidence suggests grasping occurred there. Gripper-based verbs are only used where segment-level closure and visual evidence agree (segments 3 and 6)." + } + }, + "episode_goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29111602902412415, + 0.10192954540252686, + 0.2028312236070633, + -2.867180824279785, + -0.47635775804519653, + 0.053709328174591064 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action should be to move the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, move down 8 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2909167408943176, + 0.1023653894662857, + 0.19467458128929138, + -2.8726134300231934, + -0.45073679089546204, + 0.05767261981964111 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action should be to move the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, move down 7 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.290984183549881, + 0.1019289568066597, + 0.19552987813949585, + -2.872241258621216, + -0.4522742033004761, + 0.056316301226615906 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No actions have been completed yet. The gripper is open and approaching the bottom-right corner of the cloth. The next action should be to move the gripper closer to the target corner for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, move down 7 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move back 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29037347435951233, + 0.1011340469121933, + 0.1927914321422577, + -2.874979019165039, + -0.4469412565231323, + 0.046733662486076355 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 5 cm, move down 7 cm, tilt right 20 degrees, tilt back 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move right 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2670443058013916, + 0.09452586621046066, + 0.16235201060771942, + -2.856745719909668, + -0.36754822731018066, + -0.13783036172389984 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move right 3 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23643618822097778, + 0.08842848986387253, + 0.15951766073703766, + -2.858081579208374, + -0.3613652288913727, + -0.3823857307434082 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge stack": [ + 708, + 372, + 881, + 573 + ], + "toy broccoli": [ + 621, + 586, + 810, + 787 + ], + "toy carrot": [ + 586, + 502, + 697, + 676 + ], + "green cloth": [ + 3, + 479, + 615, + 948 + ], + "table": [ + 3, + 235, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move right 3 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21304616332054138, + 0.0848127231001854, + 0.16024792194366455, + -2.8624751567840576, + -0.3359357714653015, + -0.6033809185028076 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move right 3 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20073294639587402, + 0.07093045860528946, + 0.14238929748535156, + -2.926396369934082, + -0.2594371736049652, + -0.8152923583984375 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.19473937153816223, + 0.05247225984930992, + 0.1227022334933281, + -2.8999650478363037, + -0.15771889686584473, + -0.9484367966651917 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.19377094507217407, + 0.0383872464299202, + 0.10350855439901352, + -2.857394218444824, + -0.06587901711463928, + -1.006734848022461 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge stack": [ + 708, + 372, + 881, + 573 + ], + "toy carrot": [ + 586, + 503, + 697, + 676 + ], + "toy broccoli": [ + 621, + 586, + 809, + 787 + ], + "green cloth": [ + 3, + 483, + 616, + 949 + ], + "table": [ + 3, + 225, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.18757426738739014, + 0.033408187329769135, + 0.08667998015880585, + -2.837347984313965, + -0.006339728366583586, + -1.0690947771072388 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18441276252269745, + 0.03170745074748993, + 0.07424743473529816, + -2.8235411643981934, + 0.03819398209452629, + -1.1171634197235107 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18680457770824432, + 0.032542452216148376, + 0.06213156133890152, + -2.821120023727417, + 0.06724625825881958, + -1.1174201965332031 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned above the table with the green cloth partially folded in the bottom-right area. No grasping has occurred yet as the gripper remains open and no contact has been made. The next action should involve moving the end-effector closer to the bottom-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19012980163097382, + 0.027841174975037575, + 0.051146671175956726, + -2.8133440017700195, + 0.07664845138788223, + -1.125025987625122 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, rotate clockwise 10 degrees, close gripper; then move left 1 cm, move up 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19413802027702332, + 0.024534327909350395, + 0.04461028799414635, + -2.8001961708068848, + 0.08552530407905579, + -1.1270949840545654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 2 cm, move left 3 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.19503146409988403, + 0.02432679384946823, + 0.039453182369470596, + -2.8114240169525146, + 0.09248717129230499, + -1.128318428993225 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 5 cm, move left 6 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.19931071996688843, + 0.023393996059894562, + 0.037792425602674484, + -2.8227572441101074, + 0.08902298659086227, + -1.1122562885284424 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move forward 7 cm, move left 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2092379927635193, + 0.021073104813694954, + 0.039942510426044464, + -2.8288722038269043, + 0.08086293190717697, + -1.0871691703796387 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22233298420906067, + 0.016930213198065758, + 0.04741789400577545, + -2.8449883460998535, + 0.05933598801493645, + -1.0634828805923462 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 5 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22968362271785736, + 0.0200448390096426, + 0.05198618769645691, + -2.8346457481384277, + 0.01585625298321247, + -0.9989033341407776 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 7 cm, move left 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 7 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22601409256458282, + 0.024600785225629807, + 0.04445673152804375, + -2.8241610527038574, + 0.010161330923438072, + -0.9718970060348511 + ], + "gripper_value": 0.38924968242645264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 9 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.21529163420200348, + 0.02717745117843151, + 0.03525162488222122, + -2.812836170196533, + 0.02737298049032688, + -0.9779093265533447 + ], + "gripper_value": 0.16973881423473358 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot is positioned near the bottom-right corner of the green cloth, with the gripper open and ready. The approach phase is complete, and the next step is to close the gripper to grasp the cloth corner for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.21274492144584656, + 0.02604241482913494, + 0.045287471264600754, + -2.8235533237457275, + -0.010907436721026897, + -0.9788722991943359 + ], + "gripper_value": 0.08783477544784546 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot gripper is in contact with the bottom-right corner of the green cloth, having completed approach and repositioning. The gripper has closed (value 0.08783), indicating a grasp is established. The next action is to lift and begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 8 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22386136651039124, + 0.03646464645862579, + 0.07231444865465164, + -2.90181303024292, + -0.11307798326015472, + -0.9202308654785156 + ], + "gripper_value": 0.07954961806535721 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot gripper is in contact with the bottom-right corner of the green cloth, having completed approach and repositioning. The gripper has closed (value 0.08783), indicating a grasp is established. The next action is to lift and begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 7 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2507866322994232, + 0.05946268513798714, + 0.10620389133691788, + -2.98677659034729, + -0.22526082396507263, + -0.8012604117393494 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge stack": [ + 708, + 372, + 881, + 573 + ], + "toy broccoli": [ + 621, + 586, + 810, + 787 + ], + "toy carrot": [ + 590, + 502, + 697, + 676 + ], + "table": [ + 3, + 256, + 995, + 994 + ], + "green cloth": [ + 3, + 467, + 612, + 853 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot gripper is in contact with the bottom-right corner of the green cloth, having completed approach and repositioning. The gripper has closed (value 0.08783), indicating a grasp is established. The next action is to lift and begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2756117582321167, + 0.08115971088409424, + 0.11773782223463058, + -3.071324586868286, + -0.24858024716377258, + -0.6954273581504822 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy broccoli": [ + 620, + 585, + 810, + 788 + ], + "sponge stack": [ + 708, + 372, + 882, + 573 + ], + "toy carrot": [ + 591, + 502, + 697, + 677 + ], + "green cloth": [ + 3, + 364, + 613, + 854 + ], + "table": [ + 4, + 244, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp and lift cloth corner", + "subtask_reasoning": "The robot gripper is in contact with the bottom-right corner of the green cloth, having completed approach and repositioning. The gripper has closed (value 0.08783), indicating a grasp is established. The next action is to lift and begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper closed; then move forward 10 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29601436853408813, + 0.10193891823291779, + 0.11605571210384369, + -3.071748733520508, + -0.22187717258930206, + -0.6127077341079712 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot gripper is in contact with the bottom-right corner of the green cloth, having completed approach and repositioning. The gripper has closed (value 0.08783), indicating a grasp is established. The next action is to lift and begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 6 cm, move up 1 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31795769929885864, + 0.11983150988817215, + 0.10722356289625168, + -3.0589120388031006, + -0.187834233045578, + -0.5344080924987793 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot gripper is in contact with the bottom-right corner of the green cloth, having completed approach and repositioning. The gripper has closed (value 0.08783), indicating a grasp is established. The next action is to lift and begin dragging the cloth diagonally toward the top-left." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 4 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3440677225589752, + 0.13564907014369965, + 0.10935213416814804, + -3.040257215499878, + -0.18473628163337708, + -0.4688190221786499 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently in contact with the bottom-right corner of the green cloth, having completed the approach and grasp phases. The gripper remains closed with no change in aperture, indicating a firm hold as the arm executes a diagonal dragging motion toward the top-left. The immediate next action is to continue this pulling trajectory to further unfold the fabric across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.36783480644226074, + 0.15184105932712555, + 0.12083868682384491, + -2.9893152713775635, + -0.1992427557706833, + -0.40583571791648865 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently in contact with the bottom-right corner of the green cloth, having completed the approach and grasp phases. The gripper remains closed with no change in aperture, indicating a firm hold as the arm executes a diagonal dragging motion toward the top-left. The immediate next action is to continue this pulling trajectory to further unfold the fabric across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.38505351543426514, + 0.15948405861854553, + 0.13052870333194733, + -2.9460084438323975, + -0.21994858980178833, + -0.382000207901001 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently in contact with the bottom-right corner of the green cloth, having completed the approach and grasp phases. The gripper remains closed with no change in aperture, indicating a firm hold as the arm executes a diagonal dragging motion toward the top-left. The immediate next action is to continue this pulling trajectory to further unfold the fabric across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt left 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 3 cm, open gripper; then move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.39849424362182617, + 0.16058675944805145, + 0.1259518563747406, + -2.8460733890533447, + -0.18776482343673706, + -0.414619117975235 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune placement", + "subtask_reasoning": "The robot is currently in contact with the bottom-right corner of the green cloth, having completed the approach and grasp phases. The gripper remains closed with no change in aperture, indicating a firm hold as the arm executes a diagonal dragging motion toward the top-left. The immediate next action is to continue this pulling trajectory to further unfold the fabric across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 3 cm, open gripper; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.4142133891582489, + 0.1607985496520996, + 0.11745379120111465, + -2.8212101459503174, + -0.1589517891407013, + -0.45331403613090515 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune placement", + "subtask_reasoning": "The robot is currently in contact with the bottom-right corner of the green cloth, having completed the approach and grasp phases. The gripper remains closed with no change in aperture, indicating a firm hold as the arm executes a diagonal dragging motion toward the top-left. The immediate next action is to continue this pulling trajectory to further unfold the fabric across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 2 cm, open gripper; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4254794418811798, + 0.16809852421283722, + 0.11188415437936783, + -2.8146071434020996, + -0.1550794094800949, + -0.44816869497299194 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune placement", + "subtask_reasoning": "The robot is currently in contact with the bottom-right corner of the green cloth, having completed the approach and grasp phases. The gripper remains closed with no change in aperture, indicating a firm hold as the arm executes a diagonal dragging motion toward the top-left. The immediate next action is to continue this pulling trajectory to further unfold the fabric across the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 2 cm, open gripper; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.4346177577972412, + 0.17719495296478271, + 0.11029966920614243, + -2.814199686050415, + -0.15356123447418213, + -0.4302772581577301 + ], + "gripper_value": 0.07921512424945831 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune placement", + "subtask_reasoning": "The green cloth is partially unfolded with the gripper holding the bottom-right corner. The gripper has moved slightly upward and leftward, indicating progress in diagonal dragging. Next, continue pulling the cloth toward the top-left to fully flatten it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4388543963432312, + 0.1948099136352539, + 0.10603301227092743, + -2.847695827484131, + -0.15594060719013214, + -0.3888171315193176 + ], + "gripper_value": 0.0925319567322731 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge stack": [ + 709, + 372, + 881, + 573 + ], + "green cloth": [ + 3, + 161, + 588, + 800 + ], + "toy carrot": [ + 579, + 502, + 697, + 677 + ], + "toy broccoli": [ + 621, + 586, + 809, + 786 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune placement", + "subtask_reasoning": "The green cloth is partially unfolded with the gripper holding the bottom-right corner. The gripper has moved slightly upward and leftward, indicating progress in diagonal dragging. Next, continue pulling the cloth toward the top-left to fully flatten it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.441211074590683, + 0.20026527345180511, + 0.10742221772670746, + -2.8467628955841064, + -0.14279937744140625, + -0.402444064617157 + ], + "gripper_value": 0.19552281498908997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune placement", + "subtask_reasoning": "The green cloth is partially unfolded with the gripper holding the bottom-right corner. The gripper has moved slightly upward and leftward, indicating progress in diagonal dragging. Next, continue pulling the cloth toward the top-left to fully flatten it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.4402649998664856, + 0.20166835188865662, + 0.10419978201389313, + -2.8391458988189697, + -0.1359754353761673, + -0.40071791410446167 + ], + "gripper_value": 0.4775448143482208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "fine-tune placement", + "subtask_reasoning": "The green cloth is partially unfolded with the gripper holding the bottom-right corner. The gripper has moved slightly upward and leftward, indicating progress in diagonal dragging. Next, continue pulling the cloth toward the top-left to fully flatten it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.4363580346107483, + 0.20048990845680237, + 0.09679213911294937, + -2.8510940074920654, + -0.11523924767971039, + -0.41185563802719116 + ], + "gripper_value": 0.7807356715202332 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is partially unfolded with the gripper holding the bottom-right corner. The gripper has moved slightly upward and leftward, indicating progress in diagonal dragging. Next, continue pulling the cloth toward the top-left to fully flatten it on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.434312641620636, + 0.19947296380996704, + 0.09692513942718506, + -2.856574058532715, + -0.09732618182897568, + -0.4316984713077545 + ], + "gripper_value": 0.9865638017654419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table, and the gripper is open and positioned above it, indicating the release phase is complete. The robot has successfully dragged the cloth from bottom-right to top-left as instructed. The next action is to retreat the end-effector away from the cloth to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.4313538670539856, + 0.2017184942960739, + 0.12470532953739166, + -2.8281941413879395, + -0.13745516538619995, + -0.43158262968063354 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table, and the gripper is open and positioned above it, indicating the release phase is complete. The robot has successfully dragged the cloth from bottom-right to top-left as instructed. The next action is to retreat the end-effector away from the cloth to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.40652984380722046, + 0.21116243302822113, + 0.1588135063648224, + -2.885977029800415, + -0.2132621854543686, + -0.39523112773895264 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the bottom-right corner of the green cloth and pull it diagonally toward the top-left to fully unfold it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "grasp and lift cloth corner" + }, + { + "id": 4, + "subtask": "drag cloth diagonally" + }, + { + "id": 5, + "subtask": "fine-tune placement" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table, and the gripper is open and positioned above it, indicating the release phase is complete. The robot has successfully dragged the cloth from bottom-right to top-left as instructed. The next action is to retreat the end-effector away from the cloth to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 38, + "end": 41 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000947_ecot.json b/cot/chunk-0000/episode_0000947_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c376b3dbd00d9f96c86aa9ee013915accc86f2cb --- /dev/null +++ b/cot/chunk-0000/episode_0000947_ecot.json @@ -0,0 +1,1377 @@ +{ + "task_name": "episode_0000947", + "episode_json": "json/chunk-0000/episode_0000947.json", + "video_path": "videos/chunk-0000/image_0/episode_0000947.mp4", + "instruction": "Move the blue fork right and on top of the green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 18, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000947.json" + }, + "fps": 5.0, + "T_eff": 18, + "gripper_behavior_summary": { + "available": true, + "range": 0.5513681173324585, + "std": 0.25073710083961487, + "delta_total": -0.1590462327003479, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.55137, std=0.25074, total_delta=-0.15905). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 210, + 210, + 210, + 210, + 216, + 16 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 9 + ], + [ + 4, + 10, + 11 + ], + [ + 5, + 12, + 15 + ], + [ + 6, + 16, + 16 + ], + [ + 7, + 17, + 17 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue fork\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the blue fork on the stovetop without grasping.\"},\n {\"id\": 2, \"name\": \"grasp blue fork\", \"start\": 5, \"end\": 9, \"planning\": \"Close the gripper around the blue fork and secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"lift and translate fork\", \"start\": 10, \"end\": 11, \"planning\": \"Lift the fork slightly and begin moving it rightward toward the green cloth.\"},\n {\"id\": 4, \"name\": \"position fork over cloth\", \"start\": 12, \"end\": 15, \"planning\": \"Hold the fork steady while positioning it directly above the green cloth.\"},\n {\"id\": 5, \"name\": \"release fork on cloth\", \"start\": 16, \"end\": 16, \"planning\": \"Open the gripper to release the fork onto the green cloth surface.\"},\n {\"id\": 6, \"name\": \"retreat from scene\", \"start\": 17, \"end\": 17, \"planning\": \"Move the end-effector away from the placed fork to complete the task.\"}\n ],\n \"global_plan\": \"Approach the blue fork, grasp it securely, lift and move it rightward over the green cloth, release it gently on top, then retreat.\",\n \"notes\": \"Gripper closure is confirmed in segment [5,9] with significant delta (-0.32263) and image consistency; release occurs at frame 16 as gripper opens (delta +0.31026 in [16,17]); no grasping assumed outside validated segments.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue fork", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the blue fork on the stovetop without grasping." + }, + { + "id": 2, + "name": "grasp blue fork", + "start": 5, + "end": 9, + "planning": "Close the gripper around the blue fork and secure it for manipulation." + }, + { + "id": 3, + "name": "lift and translate fork", + "start": 10, + "end": 11, + "planning": "Lift the fork slightly and begin moving it rightward toward the green cloth." + }, + { + "id": 4, + "name": "position fork over cloth", + "start": 12, + "end": 15, + "planning": "Hold the fork steady while positioning it directly above the green cloth." + }, + { + "id": 5, + "name": "release fork on cloth", + "start": 16, + "end": 16, + "planning": "Open the gripper to release the fork onto the green cloth surface." + }, + { + "id": 6, + "name": "retreat from scene", + "start": 17, + "end": 17, + "planning": "Move the end-effector away from the placed fork to complete the task." + } + ], + "global_plan": "Approach the blue fork, grasp it securely, lift and move it rightward over the green cloth, release it gently on top, then retreat.", + "notes": "Gripper closure is confirmed in segment [5,9] with significant delta (-0.32263) and image consistency; release occurs at frame 16 as gripper opens (delta +0.31026 in [16,17]); no grasping assumed outside validated segments." + } + }, + "episode_goal": "Move the blue fork right and place it on top of the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900245785713196, + 0.17576517164707184, + 0.09839028865098953, + -3.1261775493621826, + -0.1841086894273758, + 0.11194650083780289 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible to the right of the pot and left of the green cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28809282183647156, + 0.172948956489563, + 0.08662903308868408, + 3.134629964828491, + -0.15490052103996277, + 0.12600575387477875 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the stove with the blue fork visible to the right of the pot and left of the green cloth. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2972573935985565, + 0.14114640653133392, + 0.07557128369808197, + 3.1027486324310303, + -0.1549091786146164, + 0.11510895192623138 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is approaching the blue fork on the stovetop, with the green cloth to its right. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the blue fork for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31087878346443176, + 0.09617821872234344, + 0.07115156203508377, + 3.112889289855957, + -0.14683151245117188, + 0.057551730424165726 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 486, + 313, + 752, + 568 + ], + "metal pot": [ + 126, + 303, + 341, + 526 + ], + "sink": [ + 743, + 448, + 993, + 961 + ], + "toy stove": [ + 100, + 231, + 751, + 751 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is approaching the blue fork on the stovetop, with the green cloth to its right. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the blue fork for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185926377773285, + 0.08069834858179092, + 0.06969548016786575, + 3.1403250694274902, + -0.14168143272399902, + 0.103628970682621 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is approaching the blue fork on the stovetop, with the green cloth to its right. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the blue fork for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268425464630127, + 0.07804325968027115, + 0.039517223834991455, + -3.1245644092559814, + -0.04930362105369568, + 0.1349867731332779 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is approaching the blue fork on the stovetop, with the green cloth to its right. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the blue fork for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 6 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.334095299243927, + 0.08696974813938141, + 0.020789725705981255, + -3.0893466472625732, + -0.020880799740552902, + 0.1416090726852417 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is approaching the blue fork on the stovetop, with the green cloth to its right. No grasping has occurred yet, as the gripper remains open and no closing evidence exists in this segment. The next action is to continue moving the end-effector closer to the blue fork for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33687523007392883, + 0.08959273248910904, + 0.009812121279537678, + -3.0773353576660156, + -0.018689865246415138, + 0.1389361172914505 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop. The gripper is currently open and positioned near the fork, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366371989250183, + 0.08840037882328033, + 0.007625648286193609, + -3.0867066383361816, + -0.02629876509308815, + 0.1302666962146759 + ], + "gripper_value": 0.939095675945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop. The gripper is currently open and positioned near the fork, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367963433265686, + 0.08492425084114075, + 0.0075190309435129166, + -3.1067471504211426, + -0.036429449915885925, + 0.1151825413107872 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the stovetop. The gripper is currently open and positioned near the fork, with segment-level evidence indicating a closing motion is underway. The next action is to complete the grasp by closing the gripper around the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3367609977722168, + 0.08303606510162354, + 0.010085808113217354, + -3.1179208755493164, + -0.037348780781030655, + 0.10684842616319656 + ], + "gripper_value": 0.4615449905395508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot has approached and grasped the blue fork on the stovetop. The current frame shows the fork is held above the surface, ready for movement. The next action is to translate the fork rightward toward the green cloth while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34305885434150696, + 0.07198618352413177, + 0.027372604236006737, + 3.139911413192749, + -0.08711905032396317, + 0.06956608593463898 + ], + "gripper_value": 0.4503740966320038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "lift and translate fork", + "subtask_reasoning": "The robot has approached and grasped the blue fork on the stovetop. The current frame shows the fork is held above the surface, ready for movement. The next action is to translate the fork rightward toward the green cloth while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.35346218943595886, + 0.03519611433148384, + 0.05354420468211174, + 3.137854814529419, + -0.14805959165096283, + -0.03503629192709923 + ], + "gripper_value": 0.44944798946380615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position fork over cloth", + "subtask_reasoning": "The robot has approached and grasped the blue fork on the stovetop. The current frame shows the fork is held above the surface, ready for movement. The next action is to translate the fork rightward toward the green cloth while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.36809372901916504, + -0.009876803494989872, + 0.07025977969169617, + 3.1238725185394287, + -0.17478162050247192, + -0.1439630538225174 + ], + "gripper_value": 0.44944798946380615 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 109, + 284, + 326, + 526 + ], + "sink": [ + 741, + 457, + 994, + 964 + ], + "green cloth": [ + 486, + 321, + 752, + 571 + ], + "banana": [ + 304, + 171, + 389, + 340 + ], + "toy stove": [ + 101, + 210, + 729, + 752 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position fork over cloth", + "subtask_reasoning": "The blue fork is currently held above the green cloth, having been moved rightward from its initial position. The gripper remains closed with no significant change in this segment, indicating continued holding. The next action should be to lower and release the fork onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, open gripper; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.37196996808052063, + -0.023443816229701042, + 0.053928203880786896, + 3.1265852451324463, + -0.1294136643409729, + -0.18668299913406372 + ], + "gripper_value": 0.44944798946380615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position fork over cloth", + "subtask_reasoning": "The blue fork is currently held above the green cloth, having been moved rightward from its initial position. The gripper remains closed with no significant change in this segment, indicating continued holding. The next action should be to lower and release the fork onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37110117077827454, + -0.021619310602545738, + 0.05096321180462837, + 3.1342570781707764, + -0.11693128198385239, + -0.16989389061927795 + ], + "gripper_value": 0.44944798946380615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "position fork over cloth", + "subtask_reasoning": "The blue fork is currently held above the green cloth, having been moved rightward from its initial position. The gripper remains closed with no significant change in this segment, indicating continued holding. The next action should be to lower and release the fork onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3681018352508545, + -0.016683558002114296, + 0.048373494297266006, + 3.1386046409606934, + -0.10355154424905777, + -0.13282345235347748 + ], + "gripper_value": 0.5315056443214417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release fork on cloth", + "subtask_reasoning": "The blue fork is currently positioned directly above the green cloth, indicating the approach and transport phases are complete. Since the segment-level gripper evidence shows no closing motion, the robot is likely hovering or making final adjustments rather than actively releasing. The next logical step is to lower the end-effector to place the fork onto the cloth surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 16, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3654037415981293, + -0.011853114701807499, + 0.046505190432071686, + -3.1395838260650635, + -0.09081720560789108, + -0.1347842812538147 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork right and place it on top of the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and translate fork" + }, + { + "id": 4, + "subtask": "position fork over cloth" + }, + { + "id": 5, + "subtask": "release fork on cloth" + }, + { + "id": 6, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The blue fork has been successfully placed on the green cloth. The robot arm is currently positioned above the cloth with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the scene to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 17, + "end": 17 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000948_ecot.json b/cot/chunk-0000/episode_0000948_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd59bfe9f4b5b957258b9f70e28d38aadb9e166 --- /dev/null +++ b/cot/chunk-0000/episode_0000948_ecot.json @@ -0,0 +1,1561 @@ +{ + "task_name": "episode_0000948", + "episode_json": "json/chunk-0000/episode_0000948.json", + "video_path": "videos/chunk-0000/image_0/episode_0000948.mp4", + "instruction": "Open the drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000948.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.8871372938156128, + "std": 0.38643428683280945, + "delta_total": 0.002661466598510742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.88714, std=0.38643, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 10, + 210, + 210, + 10, + 19, + 219, + 219 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 15 + ], + [ + 4, + 16, + 17 + ], + [ + 5, + 18, + 18 + ], + [ + 6, + 19, + 19 + ], + [ + 7, + 20, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer handle\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the drawer handle without closing the gripper.\"},\n {\"id\": 2, \"name\": \"make contact with handle\", \"start\": 5, \"end\": 9, \"planning\": \"Position the gripper to make physical contact with the drawer handle in preparation for pulling.\"},\n {\"id\": 3, \"name\": \"grasp and pull drawer open\", \"start\": 10, \"end\": 15, \"planning\": \"Close the gripper to grasp the handle and pull the drawer outward to open it.\"},\n {\"id\": 4, \"name\": \"hold drawer open position\", \"start\": 16, \"end\": 18, \"planning\": \"Maintain grip on the handle while stabilizing the drawer in its open state.\"},\n {\"id\": 5, \"name\": \"release handle and retreat\", \"start\": 19, \"end\": 21, \"planning\": \"Open the gripper to release the handle and move the end-effector away from the drawer.\"}\n ],\n \"global_plan\": \"Open the drawer by approaching the handle, grasping it, pulling the drawer open, holding briefly, then releasing and retreating.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: no grasp before frame 10, meaningful closing during frames 10-15, release during 19-21. Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer handle", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the drawer handle without closing the gripper." + }, + { + "id": 2, + "name": "make contact with handle", + "start": 5, + "end": 9, + "planning": "Position the gripper to make physical contact with the drawer handle in preparation for pulling." + }, + { + "id": 3, + "name": "grasp and pull drawer open", + "start": 10, + "end": 15, + "planning": "Close the gripper to grasp the handle and pull the drawer outward to open it." + }, + { + "id": 4, + "name": "hold drawer open position", + "start": 16, + "end": 18, + "planning": "Maintain grip on the handle while stabilizing the drawer in its open state." + }, + { + "id": 5, + "name": "release handle and retreat", + "start": 19, + "end": 21, + "planning": "Open the gripper to release the handle and move the end-effector away from the drawer." + } + ], + "global_plan": "Open the drawer by approaching the handle, grasping it, pulling the drawer open, holding briefly, then releasing and retreating.", + "notes": "Subtasks align with observed motion segments and gripper evidence: no grasp before frame 10, meaningful closing during frames 10-15, release during 19-21. Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Open the drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30187171697616577, + -0.08172497898340225, + 0.10202459990978241, + 3.105623245239258, + -0.17619775235652924, + -0.11355844885110855 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No contact or grasping has occurred yet, as the gripper remains fully open and no closing evidence exists in the segment. The next action should be to move the gripper closer to align with the handle for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990823984146118, + -0.08049368858337402, + 0.09405303746461868, + 3.109675884246826, + -0.14887724816799164, + -0.1126803457736969 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No contact or grasping has occurred yet, as the gripper remains fully open and no closing evidence exists in the segment. The next action should be to move the gripper closer to align with the handle for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 7 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.311876118183136, + -0.0720115453004837, + 0.08687564730644226, + 3.102588653564453, + -0.14065483212471008, + -0.0928950160741806 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 6 cm, move down 3 cm, keep gripper open; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3309110701084137, + -0.045321956276893616, + 0.08733778446912766, + 3.107045888900757, + -0.1803528070449829, + -0.03861014544963837 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy": [ + 356, + 18, + 501, + 189 + ], + "wooden box": [ + 152, + 4, + 590, + 481 + ], + "green capsule": [ + 138, + 531, + 283, + 707 + ], + "black object": [ + 601, + 4, + 874, + 406 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, keep gripper open; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34361326694488525, + -0.02814270369708538, + 0.07634665071964264, + 3.133694648742676, + -0.1808575540781021, + -0.025487594306468964 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "approach drawer handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, keep gripper open; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3519061803817749, + -0.012841958552598953, + 0.05888891965150833, + -3.1302361488342285, + -0.16330145299434662, + -0.004873776808381081 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move forward 1 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35648858547210693, + -0.006696895696222782, + 0.046494826674461365, + -3.094231128692627, + -0.1388469934463501, + -0.015667304396629333 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot is positioned near the drawer handle with the gripper open, indicating the approach phase is underway. No grasping has occurred yet as the gripper remains fully open. The next action should be to move the gripper closer to the handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3582724630832672, + -0.00012058272841386497, + 0.037576183676719666, + -3.0505874156951904, + -0.1017838791012764, + -0.02238438092172146 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper is open (value ~0.998), indicating no grasp has occurred yet. The next action should be to close the gripper to make contact and secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3581230342388153, + 0.002489022444933653, + 0.029144151136279106, + -3.033001184463501, + -0.06268550455570221, + -0.028186703100800514 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper is open (value ~0.998), indicating no grasp has occurred yet. The next action should be to close the gripper to make contact and secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35641345381736755, + 0.0026663390453904867, + 0.02138293907046318, + -3.038722038269043, + -0.04153243824839592, + -0.03136228770017624 + ], + "gripper_value": 0.7691487669944763 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "make contact with handle", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper is open (value ~0.998), indicating no grasp has occurred yet. The next action should be to close the gripper to make contact and secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3562781512737274, + 0.006268010940402746, + 0.021302444860339165, + -3.0435235500335693, + -0.04088781401515007, + -0.02150563895702362 + ], + "gripper_value": 0.4662301242351532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper is open (value ~0.998), indicating no grasp has occurred yet. The next action should be to close the gripper to make contact and secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567093312740326, + 0.005322666373103857, + 0.02158932201564312, + -3.046190023422241, + -0.04270034283399582, + -0.0181357990950346 + ], + "gripper_value": 0.21731513738632202 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has approached the drawer handle and is now in close proximity, with the gripper positioned near the handle. The gripper is open (value ~0.998), indicating no grasp has occurred yet. The next action should be to close the gripper to make contact and secure a grasp on the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567543029785156, + -0.002399548189714551, + 0.02184734307229519, + -3.0746147632598877, + -0.041313525289297104, + -0.01814890094101429 + ], + "gripper_value": 0.12483644485473633 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of grasping it, as indicated by the decreasing gripper value. The next action is to complete the grasp and begin pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35847634077072144, + -0.019371097907423973, + 0.025721855461597443, + -3.1058483123779297, + -0.039037611335515976, + -0.023555511608719826 + ], + "gripper_value": 0.11409598588943481 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy": [ + 356, + 18, + 501, + 188 + ], + "wooden box": [ + 152, + 5, + 595, + 488 + ], + "green capsule": [ + 138, + 530, + 283, + 707 + ], + "black object": [ + 479, + 4, + 771, + 454 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of grasping it, as indicated by the decreasing gripper value. The next action is to complete the grasp and begin pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.36042407155036926, + -0.04663221165537834, + 0.030868258327245712, + -3.12308669090271, + -0.045976895838975906, + -0.0714244619011879 + ], + "gripper_value": 0.11409598588943481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of grasping it, as indicated by the decreasing gripper value. The next action is to complete the grasp and begin pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, keep gripper closed; then move right 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613326847553253, + -0.07236405462026596, + 0.03618685156106949, + -3.1385445594787598, + -0.05720963329076767, + -0.12001999467611313 + ], + "gripper_value": 0.11409598588943481 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow toy": [ + 356, + 18, + 501, + 189 + ], + "green capsule": [ + 138, + 530, + 283, + 707 + ], + "wooden box": [ + 152, + 5, + 686, + 537 + ] + } + } + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "grasp and pull drawer open", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of grasping it, as indicated by the decreasing gripper value. The next action is to complete the grasp and begin pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper closed; then move right 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36062735319137573, + -0.08852995932102203, + 0.03561948984861374, + 3.1399033069610596, + -0.05686681717634201, + -0.14503629505634308 + ], + "gripper_value": 0.11367882788181305 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "hold drawer open position", + "subtask_reasoning": "The robot has made contact with the drawer handle and is currently in the process of grasping it, as indicated by the decreasing gripper value. The next action is to complete the grasp and begin pulling the drawer open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.35885724425315857, + -0.09277720749378204, + 0.035261161625385284, + 3.1395444869995117, + -0.05379265546798706, + -0.14502912759780884 + ], + "gripper_value": 0.13712207973003387 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "hold drawer open position", + "subtask_reasoning": "The drawer is currently held in an open position with the gripper maintaining contact on the handle. The approach and initial pull actions have been completed, and the drawer remains extended. The next action is to maintain this hold briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.36213958263397217, + -0.09529243409633636, + 0.03904248774051666, + -3.132903575897217, + -0.06575451791286469, + -0.16013291478157043 + ], + "gripper_value": 0.3404468894004822 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "hold drawer open position", + "subtask_reasoning": "The drawer is currently held in an open position with the gripper maintaining contact on the handle. The approach and initial pull actions have been completed, and the drawer remains extended. The next action is to maintain this hold briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.36422303318977356, + -0.0964692011475563, + 0.039849258959293365, + -3.136538505554199, + -0.07813085615634918, + -0.13248342275619507 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is currently held in an open position with the gripper maintaining contact on the handle. The approach and initial pull actions have been completed, and the drawer remains extended. The next action is to maintain this hold briefly before releasing the handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36177730560302734, + -0.0970657616853714, + 0.05724671483039856, + 3.131573438644409, + -0.11488846689462662, + -0.11143858730792999 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is open and the gripper is no longer in contact with the handle, indicating the release has occurred. The robot arm is positioned near the drawer but not actively holding or pulling. The next action is to retreat further from the drawer to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.35217294096946716, + -0.09700683504343033, + 0.08674933016300201, + 3.106985092163086, + -0.1481238305568695, + -0.0867978110909462 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer handle" + }, + { + "id": 2, + "subtask": "make contact with handle" + }, + { + "id": 3, + "subtask": "grasp and pull drawer open" + }, + { + "id": 4, + "subtask": "hold drawer open position" + }, + { + "id": 5, + "subtask": "release handle and retreat" + } + ], + "subtask_name": "release handle and retreat", + "subtask_reasoning": "The drawer is open and the gripper is no longer in contact with the handle, indicating the release has occurred. The robot arm is positioned near the drawer but not actively holding or pulling. The next action is to retreat further from the drawer to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 19, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000949_ecot.json b/cot/chunk-0000/episode_0000949_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..44ca0743bb30c5653c9ff051cda762a64b694441 --- /dev/null +++ b/cot/chunk-0000/episode_0000949_ecot.json @@ -0,0 +1,2154 @@ +{ + "task_name": "episode_0000949", + "episode_json": "json/chunk-0000/episode_0000949.json", + "video_path": "videos/chunk-0000/image_0/episode_0000949.mp4", + "instruction": "Unfold the cloth from the center to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000949.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9529560804367065, + "std": 0.4290924072265625, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95296, std=0.42909, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 0, + 200, + 200, + 200, + 211, + 211, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 11, + 24, + 24, + 24, + 24, + 24, + 24 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 6 + ], + [ + 3, + 7, + 7 + ], + [ + 4, + 8, + 10 + ], + [ + 5, + 11, + 12 + ], + [ + 6, + 13, + 23 + ], + [ + 7, + 24, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth center\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper from initial position toward the center of the orange cloth without closing.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 7, \"end\": 10, \"planning\": \"Lower gripper to touch the cloth surface at center, preparing for manipulation.\"},\n {\"id\": 3, \"name\": \"grasp cloth center\", \"start\": 11, \"end\": 12, \"planning\": \"Close gripper to securely grasp the center of the cloth as evidenced by significant gripper closure.\"},\n {\"id\": 4, \"name\": \"drag cloth to bottom left\", \"start\": 13, \"end\": 23, \"planning\": \"Pull the grasped cloth diagonally toward the bottom-left corner of the sink while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release cloth at target\", \"start\": 24, \"end\": 26, \"planning\": \"Open gripper to release the cloth after reaching the bottom-left target zone.\"},\n {\"id\": 6, \"name\": \"retreat from cloth\", \"start\": 27, \"end\": 29, \"planning\": \"Lift and move gripper away from the cloth to complete the unfolding task.\"}\n ],\n \"global_plan\": \"Unfold the cloth by approaching its center, grasping it, dragging it to the bottom-left, then releasing and retreating.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp before frame 11, confirmed grasp during frames 11-12, drag phase until frame 23, release starting at 24, retreat by 27. Segment boundaries respected where motion and gripper evidence support phase transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth center", + "start": 0, + "end": 6, + "planning": "Move gripper from initial position toward the center of the orange cloth without closing." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 7, + "end": 10, + "planning": "Lower gripper to touch the cloth surface at center, preparing for manipulation." + }, + { + "id": 3, + "name": "grasp cloth center", + "start": 11, + "end": 12, + "planning": "Close gripper to securely grasp the center of the cloth as evidenced by significant gripper closure." + }, + { + "id": 4, + "name": "drag cloth to bottom left", + "start": 13, + "end": 23, + "planning": "Pull the grasped cloth diagonally toward the bottom-left corner of the sink while maintaining grip." + }, + { + "id": 5, + "name": "release cloth at target", + "start": 24, + "end": 26, + "planning": "Open gripper to release the cloth after reaching the bottom-left target zone." + }, + { + "id": 6, + "name": "retreat from cloth", + "start": 27, + "end": 29, + "planning": "Lift and move gripper away from the cloth to complete the unfolding task." + } + ], + "global_plan": "Unfold the cloth by approaching its center, grasping it, dragging it to the bottom-left, then releasing and retreating.", + "notes": "Subtasks align with observed gripper behavior: no grasp before frame 11, confirmed grasp during frames 11-12, drag phase until frame 23, release starting at 24, retreat by 27. Segment boundaries respected where motion and gripper evidence support phase transitions." + } + }, + "episode_goal": "Unfold the cloth from the center to bottom left.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2882694900035858, + -0.09130238741636276, + 0.08027274906635284, + 3.033951759338379, + 0.11161088198423386, + -0.06038312986493111 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the orange cloth, which is crumpled in the sink. No part of the unfolding task has been completed yet. The gripper is open and the robot is approaching the center of the cloth. The next action is to continue moving toward the cloth center to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 18 cm, move down 7 cm, rotate clockwise 50 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2834796905517578, + -0.08912797272205353, + 0.07068648189306259, + 3.040231704711914, + 0.14192569255828857, + -0.05409226939082146 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the orange cloth, which is crumpled in the sink. No part of the unfolding task has been completed yet. The gripper is open and the robot is approaching the center of the cloth. The next action is to continue moving toward the cloth center to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 18 cm, move down 6 cm, rotate clockwise 50 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2741847634315491, + -0.05888378247618675, + 0.06651107966899872, + 3.051698923110962, + 0.14270301163196564, + 0.03213585168123245 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot is positioned above the orange cloth, which is crumpled in the sink. No part of the unfolding task has been completed yet. The gripper is open and the robot is approaching the center of the cloth. The next action is to continue moving toward the cloth center to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 15 cm, move down 6 cm, rotate clockwise 40 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26205867528915405, + -0.010267244651913643, + 0.07313366234302521, + 3.0658512115478516, + 0.10299872606992722, + 0.22576354444026947 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 224, + 208, + 758, + 845 + ], + "sink": [ + 745, + 571, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, which is partially folded on a black tray. The gripper is open and has not yet made contact with the cloth. The next action is to lower the arm to make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move down 6 cm, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24944499135017395, + 0.025405967608094215, + 0.0741245225071907, + 3.106980562210083, + 0.07139969617128372, + 0.4147145748138428 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, which is partially folded on a black tray. The gripper is open and has not yet made contact with the cloth. The next action is to lower the arm to make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move down 6 cm, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23835773766040802, + 0.08079024404287338, + 0.05452893301844597, + 3.097215414047241, + 0.0702730193734169, + 0.668200671672821 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, which is partially folded on a black tray. The gripper is open and has not yet made contact with the cloth. The next action is to lower the arm to make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 5 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22749771177768707, + 0.09108918905258179, + 0.030978668481111526, + 3.1307876110076904, + 0.1013886034488678, + 0.7271934151649475 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "approach cloth center", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, which is partially folded on a black tray. The gripper is open and has not yet made contact with the cloth. The next action is to lower the arm to make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, keep gripper open; then move back 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move left 6 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21823537349700928, + 0.08762436360120773, + 0.009457370266318321, + -3.137366771697998, + 0.13595964014530182, + 0.7491891384124756 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned above the orange cloth, which is partially folded on a black tray. The gripper is open and has not yet made contact with the cloth. The next action is to lower the arm to make contact with the center of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, close gripper; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 8 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21370862424373627, + 0.08381161093711853, + -0.004652560222893953, + 3.1324009895324707, + 0.15812373161315918, + 0.7694730162620544 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the center of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the fabric, ready for interaction. The next action is to close the gripper to establish a firm grasp on the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20999322831630707, + 0.08715954422950745, + -0.020272843539714813, + 3.1116631031036377, + 0.195242777466774, + 0.7878798246383667 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the center of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the fabric, ready for interaction. The next action is to close the gripper to establish a firm grasp on the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21001610159873962, + 0.08757073432207108, + -0.022322872653603554, + 3.1032049655914307, + 0.2072148472070694, + 0.8059210181236267 + ], + "gripper_value": 0.651088297367096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the center of the orange cloth on the stovetop. The gripper is currently open and positioned directly above the fabric, ready for interaction. The next action is to close the gripper to establish a firm grasp on the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 11 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20916041731834412, + 0.08886624127626419, + -0.022446416318416595, + 3.115544080734253, + 0.20530936121940613, + 0.8195863366127014 + ], + "gripper_value": 0.35690104961395264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth center", + "subtask_reasoning": "The robot has approached and made contact with the center of the orange cloth. The gripper is currently open and positioned over the fabric, ready to close. The next action is to close the gripper to securely grasp the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.20874886214733124, + 0.08949625492095947, + -0.02163037471473217, + 3.121128797531128, + 0.2055322527885437, + 0.7952434420585632 + ], + "gripper_value": 0.14964459836483002 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "grasp cloth center", + "subtask_reasoning": "The robot has approached and made contact with the center of the orange cloth. The gripper is currently open and positioned over the fabric, ready to close. The next action is to close the gripper to securely grasp the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed; then move back 1 cm, move left 10 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21254731714725494, + 0.09994267672300339, + -0.010183249600231647, + -3.0703678131103516, + 0.2189846783876419, + 0.7507320642471313 + ], + "gripper_value": 0.05350611358880997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot has approached and made contact with the center of the orange cloth. The gripper is currently open and positioned over the fabric, ready to close. The next action is to close the gripper to securely grasp the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2101351022720337, + 0.11433273553848267, + -0.0018168853130191565, + -3.001771926879883, + 0.2282545417547226, + 0.733657956123352 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot has approached and made contact with the center of the orange cloth. The gripper is currently open and positioned over the fabric, ready to close. The next action is to close the gripper to securely grasp the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.210869699716568, + 0.13488824665546417, + 0.002979818033054471, + -3.0030574798583984, + 0.2026243805885315, + 0.7278795838356018 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot has approached and made contact with the center of the orange cloth. The gripper is currently open and positioned over the fabric, ready to close. The next action is to close the gripper to securely grasp the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move forward 1 cm, move right 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20999771356582642, + 0.15955090522766113, + 0.007922468706965446, + -2.9812073707580566, + 0.18312805891036987, + 0.718879759311676 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 217, + 220, + 742, + 780 + ], + "sink": [ + 743, + 569, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot has approached and made contact with the center of the orange cloth. The gripper is currently open and positioned over the fabric, ready to close. The next action is to close the gripper to securely grasp the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper; then move forward 2 cm, move right 6 cm, move up 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.19926734268665314, + 0.17747510969638824, + 0.008636371232569218, + -2.9415266513824463, + 0.1685977578163147, + 0.7358139753341675 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot has approached and made contact with the center of the orange cloth. The gripper is currently open and positioned over the fabric, ready to close. The next action is to close the gripper to securely grasp the cloth center." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, tilt back 10 degrees, open gripper; then move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.1965586245059967, + 0.18780986964702606, + 0.006962555460631847, + -2.929605007171631, + 0.1392420381307602, + 0.7564382553100586 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot gripper is in contact with the center of the orange cloth, which is partially unfolded on the sink surface. The cloth has been approached and grasped, and the current subtask involves dragging it toward the bottom-left corner. The next action should be to move the gripper and cloth diagonally downward and leftward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, open gripper; then move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20060165226459503, + 0.20051303505897522, + 0.006051140837371349, + -2.9289608001708984, + 0.06173323094844818, + 0.792938768863678 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot gripper is in contact with the center of the orange cloth, which is partially unfolded on the sink surface. The cloth has been approached and grasped, and the current subtask involves dragging it toward the bottom-left corner. The next action should be to move the gripper and cloth diagonally downward and leftward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 6 cm, open gripper; then move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.20299263298511505, + 0.2052292823791504, + 0.005786677356809378, + -2.9296860694885254, + 0.02664540708065033, + 0.8111904859542847 + ], + "gripper_value": 0.05115113407373428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot gripper is in contact with the center of the orange cloth, which is partially unfolded on the sink surface. The cloth has been approached and grasped, and the current subtask involves dragging it toward the bottom-left corner. The next action should be to move the gripper and cloth diagonally downward and leftward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 6 cm, keep gripper open; then move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.20261050760746002, + 0.20439618825912476, + 0.005748669151216745, + -2.932284355163574, + 0.036472901701927185, + 0.7912323474884033 + ], + "gripper_value": 0.06621777266263962 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot gripper is in contact with the center of the orange cloth, which is partially unfolded on the sink surface. The cloth has been approached and grasped, and the current subtask involves dragging it toward the bottom-left corner. The next action should be to move the gripper and cloth diagonally downward and leftward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 6 cm, keep gripper open; then move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1998545378446579, + 0.19558200240135193, + 0.006098951678723097, + -2.933854341506958, + 0.08105762302875519, + 0.766375720500946 + ], + "gripper_value": 0.20745283365249634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot gripper is in contact with the center of the orange cloth, which is partially unfolded on the sink surface. The cloth has been approached and grasped, and the current subtask involves dragging it toward the bottom-left corner. The next action should be to move the gripper and cloth diagonally downward and leftward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 6 cm, keep gripper open; then move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.20270687341690063, + 0.18722592294216156, + 0.039679400622844696, + -2.9094836711883545, + 0.044987041503190994, + 0.7630173563957214 + ], + "gripper_value": 0.4522285461425781 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "drag cloth to bottom left", + "subtask_reasoning": "The robot gripper is in contact with the center of the orange cloth, which is partially unfolded on the sink surface. The cloth has been approached and grasped, and the current subtask involves dragging it toward the bottom-left corner. The next action should be to move the gripper and cloth diagonally downward and leftward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 13, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.20794092118740082, + 0.17447739839553833, + 0.06213940307497978, + -2.8801584243774414, + 0.03258536383509636, + 0.7636887431144714 + ], + "gripper_value": 0.7652681469917297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The robot gripper is in contact with the center of the orange cloth, which is partially unfolded on the sink surface. The cloth has been approached and grasped, and the current subtask involves dragging it toward the bottom-left corner. The next action should be to move the gripper and cloth diagonally downward and leftward while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.21641473472118378, + 0.1555430293083191, + 0.08282049000263214, + -2.9024734497070312, + -0.0035705920308828354, + 0.7530030012130737 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The cloth has been dragged to the bottom-left target area and is now lying flat on the surface. The gripper is open and no longer in contact with the cloth, indicating the release action is complete. The next step is to retreat the end-effector away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23226843774318695, + 0.1174391657114029, + 0.07786104828119278, + -3.0079874992370605, + 0.005716531537473202, + 0.6770955324172974 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "release cloth at target", + "subtask_reasoning": "The cloth has been dragged to the bottom-left target area and is now lying flat on the surface. The gripper is open and no longer in contact with the cloth, indicating the release action is complete. The next step is to retreat the end-effector away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2446766346693039, + 0.07556511461734772, + 0.07680612057447433, + -3.131019115447998, + -0.0015699516516178846, + 0.5812863111495972 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The cloth has been dragged to the bottom-left target area and is now lying flat on the surface. The gripper is open and no longer in contact with the cloth, indicating the release action is complete. The next step is to retreat the end-effector away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2549295127391815, + 0.027474068105220795, + 0.08250598609447479, + 3.134836435317993, + 0.023920640349388123, + 0.48502179980278015 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The cloth has been dragged to the bottom-left and is now lying flat on the surface. The robot arm is positioned above the cloth with the gripper open, indicating release is complete. The next action is to retreat further away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 27, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2617814540863037, + -0.012707054615020752, + 0.08801894634962082, + -3.1406896114349365, + 0.011455964297056198, + 0.39787593483924866 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 117, + 241, + 673, + 764 + ], + "sink": [ + 743, + 571, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from the center to bottom left." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth center" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "grasp cloth center" + }, + { + "id": 4, + "subtask": "drag cloth to bottom left" + }, + { + "id": 5, + "subtask": "release cloth at target" + }, + { + "id": 6, + "subtask": "retreat from cloth" + } + ], + "subtask_name": "retreat from cloth", + "subtask_reasoning": "The cloth has been dragged to the bottom-left and is now lying flat on the surface. The robot arm is positioned above the cloth with the gripper open, indicating release is complete. The next action is to retreat further away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 27, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000950_ecot.json b/cot/chunk-0000/episode_0000950_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..4405c339ca8ec5d2800505d1f54889e07daa01a5 --- /dev/null +++ b/cot/chunk-0000/episode_0000950_ecot.json @@ -0,0 +1,2226 @@ +{ + "task_name": "episode_0000950", + "episode_json": "json/chunk-0000/episode_0000950.json", + "video_path": "videos/chunk-0000/image_0/episode_0000950.mp4", + "instruction": "Fold the cloth from bottom left to top right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000950.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.9329701662063599, + "std": 0.42923516035079956, + "delta_total": -0.16966158151626587, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93297, std=0.42924, total_delta=-0.16966). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 117, + 117, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 317, + 332, + 332 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 9 + ], + [ + 3, + 10, + 16 + ], + [ + 4, + 17, + 18 + ], + [ + 5, + 19, + 31 + ], + [ + 6, + 32, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth bottom left corner\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the bottom-left region of the blue cloth without grasping, as gripper remains fully open and no closing evidence exists in this segment.\"},\n {\"id\": 2, \"name\": \"grasp bottom left corner of cloth\", \"start\": 10, \"end\": 16, \"planning\": \"Close gripper to secure hold on the bottom-left corner of the cloth, confirmed by significant gripper closure (delta=-0.307) and visual contact at frame 16.\"},\n {\"id\": 3, \"name\": \"lift and drag cloth diagonally\", \"start\": 17, \"end\": 31, \"planning\": \"Lift and pull the cloth diagonally toward top-right while maintaining grip, evidenced by continued low gripper values and motion trajectory consistent with dragging fabric.\"},\n {\"id\": 4, \"name\": \"release cloth at target position\", \"start\": 32, \"end\": 33, \"planning\": \"Open gripper to release the cloth after reaching the folded position, confirmed by increasing gripper value (delta=+0.297) and visual separation in final frames.\"}\n ],\n \"global_plan\": \"Fold the cloth by approaching its bottom-left corner, grasping it, dragging it diagonally to the top-right, then releasing to complete the fold.\",\n \"notes\": \"Subtask boundaries align with observed gripper behavior and motion phases: approach (no grasp), grasp (closure), drag (maintained grip), release (opening). Segment 2 (frames 3-9) merged into subtask 1 as it shows no gripper activity and continues approach motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth bottom left corner", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the bottom-left region of the blue cloth without grasping, as gripper remains fully open and no closing evidence exists in this segment." + }, + { + "id": 2, + "name": "grasp bottom left corner of cloth", + "start": 10, + "end": 16, + "planning": "Close gripper to secure hold on the bottom-left corner of the cloth, confirmed by significant gripper closure (delta=-0.307) and visual contact at frame 16." + }, + { + "id": 3, + "name": "lift and drag cloth diagonally", + "start": 17, + "end": 31, + "planning": "Lift and pull the cloth diagonally toward top-right while maintaining grip, evidenced by continued low gripper values and motion trajectory consistent with dragging fabric." + }, + { + "id": 4, + "name": "release cloth at target position", + "start": 32, + "end": 33, + "planning": "Open gripper to release the cloth after reaching the folded position, confirmed by increasing gripper value (delta=+0.297) and visual separation in final frames." + } + ], + "global_plan": "Fold the cloth by approaching its bottom-left corner, grasping it, dragging it diagonally to the top-right, then releasing to complete the fold.", + "notes": "Subtask boundaries align with observed gripper behavior and motion phases: approach (no grasp), grasp (closure), drag (maintained grip), release (opening). Segment 2 (frames 3-9) merged into subtask 1 as it shows no gripper activity and continues approach motion." + } + }, + "episode_goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.09731052815914154, + 0.09613025933504105, + 0.20223748683929443, + -3.0303409099578857, + -0.18458914756774902, + 0.12967216968536377 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action should be to move the gripper closer to the cloth's bottom-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 21 cm, move down 16 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.09869979321956635, + 0.09619027376174927, + 0.2009803205728531, + -3.0375924110412598, + -0.18805062770843506, + 0.13783693313598633 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action should be to move the gripper closer to the cloth's bottom-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 21 cm, move down 16 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.13786473870277405, + 0.13421531021595, + 0.17817199230194092, + -3.1226232051849365, + -0.16947437822818756, + 0.29131120443344116 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action should be to move the gripper closer to the cloth's bottom-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 17 cm, move down 14 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.17100824415683746, + 0.1794683337211609, + 0.14916759729385376, + 3.1252269744873047, + -0.1837760955095291, + 0.4740825593471527 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No actions have been completed yet. The gripper is open and approaching the bottom-left corner of the cloth. The next action should be to move the gripper closer to the cloth's bottom-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 12 cm, move down 11 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.1855415552854538, + 0.2143932729959488, + 0.11585354804992676, + 3.1082608699798584, + -0.22842152416706085, + 0.6003756523132324 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ball": [ + 537, + 524, + 676, + 671 + ], + "blue mat": [ + 3, + 346, + 528, + 944 + ], + "yellow toy": [ + 477, + 669, + 636, + 806 + ], + "red block": [ + 392, + 796, + 482, + 937 + ], + "green toy": [ + 627, + 559, + 677, + 672 + ], + "table": [ + 4, + 287, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.19057230651378632, + 0.24368029832839966, + 0.09156236052513123, + 3.047205686569214, + -0.30867844820022583, + 0.6929663419723511 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19015544652938843, + 0.26960939168930054, + 0.07867331802845001, + 2.993126630783081, + -0.3550114035606384, + 0.762336254119873 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.19320334494113922, + 0.28279197216033936, + 0.0703330710530281, + 3.0255260467529297, + -0.3650077283382416, + 0.7843073010444641 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2033344805240631, + 0.2923504114151001, + 0.05914108455181122, + 3.051107406616211, + -0.3636559844017029, + 0.8070663809776306 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move down 4 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.20668944716453552, + 0.2978965640068054, + 0.04747064784169197, + 3.103797674179077, + -0.36258429288864136, + 0.795580267906189 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "approach cloth bottom left corner", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move down 4 cm, close gripper; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.20592273771762848, + 0.30370938777923584, + 0.03932458907365799, + -3.1301276683807373, + -0.37367376685142517, + 0.7583483457565308 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20236822962760925, + 0.30577993392944336, + 0.033607494086027145, + -3.0856809616088867, + -0.3773871958255768, + 0.7058979868888855 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19785423576831818, + 0.3071053624153137, + 0.03327884152531624, + -3.078207015991211, + -0.36533600091934204, + 0.6896001100540161 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ball": [ + 536, + 523, + 677, + 671 + ], + "blue mat": [ + 3, + 347, + 528, + 944 + ], + "yellow toy": [ + 477, + 668, + 636, + 806 + ], + "red block": [ + 392, + 795, + 482, + 936 + ], + "green toy": [ + 627, + 558, + 677, + 671 + ], + "cardboard box": [ + 225, + 6, + 995, + 594 + ], + "table": [ + 4, + 273, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot is positioned above the table with the blue cloth visible in the bottom-left area. No part of the folding task has been completed yet. The gripper remains open and is approaching the bottom-left corner of the cloth. The next action should continue moving the end-effector closer to the target corner for eventual grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move right 7 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19430918991565704, + 0.3064557611942291, + 0.024967730045318604, + -3.0744738578796387, + -0.37429022789001465, + 0.7094694375991821 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper; then move forward 8 cm, move right 10 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.19484995305538177, + 0.30776938796043396, + 0.005712744314223528, + -3.071258306503296, + -0.3740810453891754, + 0.7367303967475891 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 10 cm, move right 14 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.1971188187599182, + 0.311752051115036, + 0.001545852399431169, + -3.0645735263824463, + -0.39212751388549805, + 0.7805039882659912 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper closed; then move forward 11 cm, move right 17 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20147818326950073, + 0.31185382604599, + 0.0005539185367524624, + -3.070667028427124, + -0.38200488686561584, + 0.7935001254081726 + ], + "gripper_value": 0.6921995282173157 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "grasp bottom left corner of cloth", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move forward 12 cm, move right 20 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2028048038482666, + 0.30389297008514404, + -0.0004099617653992027, + -3.1149871349334717, + -0.3301009237766266, + 0.8103066682815552 + ], + "gripper_value": 0.3962334990501404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 23 cm, move up 2 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20183856785297394, + 0.29448768496513367, + 0.0011446343269199133, + -3.1385247707366943, + -0.28322339057922363, + 0.7767939567565918 + ], + "gripper_value": 0.18686315417289734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 22 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20335638523101807, + 0.28856170177459717, + 0.010755576193332672, + 3.125452995300293, + -0.2720768451690674, + 0.7538784742355347 + ], + "gripper_value": 0.0853668823838234 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 18 cm, move right 22 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21301856637001038, + 0.27858981490135193, + 0.022938692942261696, + 3.107287645339966, + -0.26427575945854187, + 0.7402119636535645 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 19 cm, move right 20 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23272369801998138, + 0.26016050577163696, + 0.04248730465769768, + 3.074124336242676, + -0.2619842290878296, + 0.7684173583984375 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 18 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25825950503349304, + 0.23177318274974823, + 0.043980810791254044, + 3.0622668266296387, + -0.236382395029068, + 0.7856590747833252 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 14 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28080809116363525, + 0.2035696655511856, + 0.0426197424530983, + 3.073244094848633, + -0.22853101789951324, + 0.779572606086731 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has approached the bottom-left corner of the blue cloth. The gripper is currently open and positioned near the target corner, with no contact yet established. The next action is to close the gripper to grasp the cloth corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 11 cm, open gripper; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2998596727848053, + 0.16625510156154633, + 0.03576737269759178, + 3.0963082313537598, + -0.24022237956523895, + 0.7434573769569397 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ball": [ + 536, + 524, + 677, + 671 + ], + "yellow toy": [ + 477, + 668, + 636, + 807 + ], + "blue mat": [ + 38, + 346, + 527, + 953 + ], + "red block": [ + 391, + 794, + 482, + 936 + ], + "green toy": [ + 626, + 559, + 677, + 671 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 7 cm, open gripper; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3141724169254303, + 0.13432785868644714, + 0.03248574957251549, + 3.1024515628814697, + -0.25755980610847473, + 0.7202799320220947 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move up 1 cm, open gripper; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32637402415275574, + 0.09933400899171829, + 0.02703458070755005, + 3.0934927463531494, + -0.2698889970779419, + 0.6963858604431152 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.340559720993042, + 0.0764482393860817, + 0.022919198498129845, + 3.094785690307617, + -0.2629528343677521, + 0.721923291683197 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 2 cm, open gripper; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655642867088318, + 0.07051307708024979, + 0.02515353076159954, + 3.0708093643188477, + -0.25250327587127686, + 0.7998602390289307 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red ball": [ + 536, + 524, + 676, + 670 + ], + "yellow toy": [ + 477, + 668, + 637, + 806 + ], + "red block": [ + 390, + 795, + 482, + 937 + ], + "green toy": [ + 627, + 558, + 677, + 671 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 1 cm, open gripper; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3870643377304077, + 0.07320220023393631, + 0.027004921808838844, + 3.0569026470184326, + -0.24141602218151093, + 0.8591778874397278 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4013949930667877, + 0.07480596750974655, + 0.024273211136460304, + 3.060549020767212, + -0.2251744270324707, + 0.860551118850708 + ], + "gripper_value": 0.0925319567322731 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3924412131309509, + 0.08029264956712723, + 0.016843201592564583, + 3.0914721488952637, + -0.2158486396074295, + 0.8242029547691345 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "lift and drag cloth diagonally", + "subtask_reasoning": "The robot has grasped the bottom-left corner of the blue cloth and is currently lifting it slightly above the table surface. The gripper is closed and stable, indicating a secure hold. The next action is to drag the cloth diagonally toward the top-right corner to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.37630680203437805, + 0.09300405532121658, + 0.03839406371116638, + 3.057284355163574, + -0.1765630841255188, + 0.761023998260498 + ], + "gripper_value": 0.5324842929840088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "release cloth at target position", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating the cloth has been released at the target position. The folding action from bottom-left to top-right appears complete. The next step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 32, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3602811396121979, + 0.11456012725830078, + 0.08046352863311768, + 3.018601894378662, + -0.17560778558254242, + 0.6804934740066528 + ], + "gripper_value": 0.8298270106315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth by grasping the bottom-left corner and moving it to the top-right corner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth bottom left corner" + }, + { + "id": 2, + "subtask": "grasp bottom left corner of cloth" + }, + { + "id": 3, + "subtask": "lift and drag cloth diagonally" + }, + { + "id": 4, + "subtask": "release cloth at target position" + } + ], + "subtask_name": "release cloth at target position", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, indicating the cloth has been released at the target position. The folding action from bottom-left to top-right appears complete. The next step is to retract the arm or conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 32, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000951_ecot.json b/cot/chunk-0000/episode_0000951_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..26b4bf545ac79cea6f7a0a50dbbf48cce53aecc0 --- /dev/null +++ b/cot/chunk-0000/episode_0000951_ecot.json @@ -0,0 +1,1222 @@ +{ + "task_name": "episode_0000951", + "episode_json": "json/chunk-0000/episode_0000951.json", + "video_path": "videos/chunk-0000/image_0/episode_0000951.mp4", + "instruction": "Drag the green napkin to the lower left edge of table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000951.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0033228397369384766, + "std": 0.0010784947080537677, + "delta_total": -0.001324295997619629, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00332, std=0.00108, total_delta=-0.00132). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 14 + ], + [ + 3, + 15, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach napkin\", \"start\": 0, \"end\": 10, \"planning\": \"Move the end-effector from initial position down toward the green napkin to establish contact.\"},\n {\"id\": 2, \"name\": \"drag napkin left\", \"start\": 11, \"end\": 14, \"planning\": \"Maintain contact and push/drag the napkin toward the lower left edge of the table.\"},\n {\"id\": 3, \"name\": \"release and retreat\", \"start\": 15, \"end\": 19, \"planning\": \"Lift the end-effector slightly and move away from the napkin after completing the drag motion.\"}\n ],\n \"global_plan\": \"Approach the green napkin, drag it to the lower left edge of the table using contact-based pushing, then retreat.\",\n \"notes\": \"Gripper remains open throughout; no grasping or lifting occurs. Motion is purely contact-based dragging followed by withdrawal.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach napkin", + "start": 0, + "end": 10, + "planning": "Move the end-effector from initial position down toward the green napkin to establish contact." + }, + { + "id": 2, + "name": "drag napkin left", + "start": 11, + "end": 14, + "planning": "Maintain contact and push/drag the napkin toward the lower left edge of the table." + }, + { + "id": 3, + "name": "release and retreat", + "start": 15, + "end": 19, + "planning": "Lift the end-effector slightly and move away from the napkin after completing the drag motion." + } + ], + "global_plan": "Approach the green napkin, drag it to the lower left edge of the table using contact-based pushing, then retreat.", + "notes": "Gripper remains open throughout; no grasping or lifting occurs. Motion is purely contact-based dragging followed by withdrawal." + } + }, + "episode_goal": "Drag the green napkin to the lower left edge of table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.270602822303772, + 0.11647430062294006, + 0.10109295696020126, + 3.0731704235076904, + -0.0898236632347107, + 0.074241504073143 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 17 cm, move down 10 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27133217453956604, + 0.11410214006900787, + 0.0939411073923111, + 3.0594451427459717, + -0.06787072122097015, + 0.080240398645401 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 17 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903589606285095, + 0.06601087749004364, + 0.09518223255872726, + 3.0381741523742676, + -0.0870797261595726, + -0.017177708446979523 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move back 3 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115425705909729, + 0.02438042312860489, + 0.10469886660575867, + 3.038799524307251, + -0.12236231565475464, + -0.0826248750090599 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 10 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 5 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3266732096672058, + -0.0184722151607275, + 0.09590815007686615, + 3.032975196838379, + -0.0913337767124176, + -0.1338372528553009 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 7 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34431490302085876, + -0.039025887846946716, + 0.08309303969144821, + 3.095017433166504, + -0.0913037434220314, + -0.15199242532253265 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 510, + 358, + 809, + 640 + ], + "wooden countertop": [ + 4, + 185, + 856, + 990 + ], + "metal strainer": [ + 139, + 356, + 402, + 625 + ], + "yellow sponge": [ + 400, + 326, + 511, + 462 + ] + } + } + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 8 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.351395845413208, + -0.04482639580965042, + 0.052163079380989075, + 3.096860647201538, + -0.050352584570646286, + -0.15202632546424866 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.35458195209503174, + -0.043683551251888275, + 0.022221945226192474, + 3.07061767578125, + -0.03258359432220459, + -0.1336444765329361 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.35662955045700073, + -0.04336247965693474, + 0.008331057615578175, + 3.066523790359497, + -0.020239917561411858, + -0.14368335902690887 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35612714290618896, + -0.04631442576646805, + 0.007309364154934883, + 3.083627700805664, + -0.03591274097561836, + -0.1670670062303543 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 6 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3444477319717407, + -0.05154229328036308, + 0.004079132340848446, + 3.122701406478882, + -0.04660898447036743, + -0.22828824818134308 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach napkin", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, keep gripper open; then move back 6 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.321156769990921, + -0.056446172297000885, + 0.004211943596601486, + -3.105588436126709, + -0.05540291965007782, + -0.2898721992969513 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag napkin left", + "subtask_reasoning": "The robot is positioned above the table with the green napkin visible to the right. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the napkin to initiate contact for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2908210754394531, + -0.05120105668902397, + 0.00385990715585649, + -3.095695734024048, + -0.04230162501335144, + -0.30326709151268005 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag napkin left", + "subtask_reasoning": "The robot is in contact with the green napkin on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the napkin toward the lower left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2674528658390045, + -0.0427045077085495, + 0.004942920058965683, + -3.097369909286499, + -0.02573242411017418, + -0.2851104140281677 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag napkin left", + "subtask_reasoning": "The robot is in contact with the green napkin on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the napkin toward the lower left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2542850971221924, + -0.028116500005126, + 0.005959272384643555, + -3.120479106903076, + -0.007498036604374647, + -0.2162512242794037 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag napkin left", + "subtask_reasoning": "The robot is in contact with the green napkin on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the napkin toward the lower left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26202863454818726, + -0.021826816722750664, + 0.012758888304233551, + 3.098510980606079, + -0.00921968650072813, + -0.14029015600681305 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the green napkin on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the napkin toward the lower left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30140239000320435, + -0.035714857280254364, + 0.039571113884449005, + 2.995715618133545, + -0.11132842302322388, + -0.10327480733394623 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is in contact with the green napkin on the table, having completed the approach phase. The gripper remains open, indicating a pushing action rather than grasping. The next step is to continue sliding the napkin toward the lower left edge of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3146161437034607, + -0.04444866627454758, + 0.05782145634293556, + 2.950995683670044, + -0.1356913447380066, + -0.10839943587779999 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 140, + 357, + 400, + 624 + ], + "white drawer unit": [ + 807, + 384, + 995, + 857 + ], + "green cloth": [ + 397, + 488, + 722, + 832 + ], + "wooden countertop": [ + 4, + 185, + 856, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green napkin has been successfully dragged to the lower left edge of the table. The gripper is currently open and positioned above the napkin, indicating the dragging action is complete. The robot should now retreat away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3075750172138214, + -0.0428079254925251, + 0.08534955233335495, + 2.9809248447418213, + -0.19561563432216644, + -0.1271684616804123 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green napkin has been successfully dragged to the lower left edge of the table. The gripper is currently open and positioned above the napkin, indicating the dragging action is complete. The robot should now retreat away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3019760549068451, + -0.01457675639539957, + 0.08746182918548584, + 3.0133469104766846, + -0.15560130774974823, + -0.12587282061576843 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Drag the green napkin to the lower left edge of table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach napkin" + }, + { + "id": 2, + "subtask": "drag napkin left" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green napkin has been successfully dragged to the lower left edge of the table. The gripper is currently open and positioned above the napkin, indicating the dragging action is complete. The robot should now retreat away from the table to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000952_ecot.json b/cot/chunk-0000/episode_0000952_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a597a8b3eabf5a82c2ed15e31ba587f9ae425637 --- /dev/null +++ b/cot/chunk-0000/episode_0000952_ecot.json @@ -0,0 +1,3067 @@ +{ + "task_name": "episode_0000952", + "episode_json": "json/chunk-0000/episode_0000952.json", + "video_path": "videos/chunk-0000/image_0/episode_0000952.mp4", + "instruction": "Moving the red object.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000952.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6811436414718628, + "std": 0.3243630528450012, + "delta_total": 0.002661466598510742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.68114, std=0.32436, total_delta=0.00266). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 119, + 119, + 119, + 119, + 119, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 19, + 38, + 38, + 38, + 38, + 38, + 38, + 38 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 18 + ], + [ + 3, + 19, + 23 + ], + [ + 4, + 24, + 37 + ], + [ + 5, + 38, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red object\", \"start\": 0, \"end\": 1, \"planning\": \"Move end-effector toward the red object without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp red object\", \"start\": 2, \"end\": 18, \"planning\": \"Close gripper around red object and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition red object\", \"start\": 19, \"end\": 23, \"planning\": \"Lift and translate red object to new location while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release red object\", \"start\": 24, \"end\": 37, \"planning\": \"Open gripper to release red object at target position, confirmed by gripper signal increase and visual separation.\"},\n {\"id\": 5, \"name\": \"retreat from scene\", \"start\": 38, \"end\": 44, \"planning\": \"Move end-effector away from released object to clear workspace.\"}\n ],\n \"global_plan\": \"Approach, grasp, reposition, release, and retreat — moving the red object from its initial position to a new location on the stovetop.\",\n \"notes\": \"Gripper evidence supports grasp in segment 2 (closing) and release in segment 4 (opening). Segment 3 is inferred as transport based on motion continuity and context. Segment 5 shows full retreat with open gripper.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red object", + "start": 0, + "end": 1, + "planning": "Move end-effector toward the red object without closing gripper." + }, + { + "id": 2, + "name": "grasp red object", + "start": 2, + "end": 18, + "planning": "Close gripper around red object and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "reposition red object", + "start": 19, + "end": 23, + "planning": "Lift and translate red object to new location while maintaining grip." + }, + { + "id": 4, + "name": "release red object", + "start": 24, + "end": 37, + "planning": "Open gripper to release red object at target position, confirmed by gripper signal increase and visual separation." + }, + { + "id": 5, + "name": "retreat from scene", + "start": 38, + "end": 44, + "planning": "Move end-effector away from released object to clear workspace." + } + ], + "global_plan": "Approach, grasp, reposition, release, and retreat — moving the red object from its initial position to a new location on the stovetop.", + "notes": "Gripper evidence supports grasp in segment 2 (closing) and release in segment 4 (opening). Segment 3 is inferred as transport based on motion continuity and context. Segment 5 shows full retreat with open gripper." + } + }, + "episode_goal": "Move the red object from the left side of the stovetop to the center-left area near the banana.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.23618105053901672, + 0.012881635688245296, + 0.058549899607896805, + 3.066852569580078, + -0.16868703067302704, + 1.049424171447754 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move left 12 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22378148138523102, + 0.013580096885561943, + 0.049080703407526016, + 3.1114847660064697, + -0.14570559561252594, + 1.0386732816696167 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "approach red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move back 1 cm, move left 12 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 1 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 1 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2162076234817505, + 0.018640946596860886, + 0.04860389232635498, + -3.12131667137146, + -0.12525299191474915, + 0.9899291396141052 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.21083398163318634, + 0.03243743255734444, + 0.058819640427827835, + -3.120394229888916, + -0.13117629289627075, + 1.0115492343902588 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20132607221603394, + 0.05020421743392944, + 0.06856825202703476, + -3.1103198528289795, + -0.1246570572257042, + 1.0218877792358398 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.1934783160686493, + 0.06855759024620056, + 0.07601996511220932, + -3.114906072616577, + -0.1235308051109314, + 1.0059754848480225 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 496, + 503, + 722, + 706 + ], + "banana": [ + 258, + 597, + 436, + 835 + ], + "metal bowl": [ + 501, + 639, + 837, + 918 + ], + "sink": [ + 746, + 646, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.18523797392845154, + 0.08544734865427017, + 0.07251627743244171, + -3.090757131576538, + -0.10399499535560608, + 0.9805086255073547 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.17809438705444336, + 0.10196949541568756, + 0.0626492127776146, + -3.0598790645599365, + -0.06760087609291077, + 0.9030281901359558 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.18411754071712494, + 0.11856954544782639, + 0.05332168564200401, + -3.0428085327148438, + -0.11760955303907394, + 0.8324209451675415 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18989640474319458, + 0.1323210448026657, + 0.03628319129347801, + -3.02298641204834, + -0.13103821873664856, + 0.7815877199172974 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 495, + 503, + 722, + 706 + ], + "banana": [ + 258, + 598, + 436, + 835 + ], + "metal bowl": [ + 503, + 639, + 845, + 918 + ], + "red toy": [ + 56, + 552, + 131, + 728 + ], + "sink": [ + 744, + 647, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red object visible on the left side. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the red object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19839414954185486, + 0.1397351771593094, + 0.027543887495994568, + -3.0564417839050293, + -0.1131000742316246, + 0.7921949028968811 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.20952275395393372, + 0.14121049642562866, + 0.01867625117301941, + -3.086740732192993, + -0.1055750697851181, + 0.7986353635787964 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 2 cm, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21349215507507324, + 0.14037372171878815, + 0.012869487516582012, + -3.0950918197631836, + -0.10231693834066391, + 0.8075653910636902 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21930597722530365, + 0.1367330700159073, + 0.013668294064700603, + -3.1195545196533203, + -0.11134102195501328, + 0.8216607570648193 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, close gripper; then move back 1 cm, move right 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.224162295460701, + 0.13178709149360657, + 0.013783291913568974, + -3.1320412158966064, + -0.11934562772512436, + 0.8226161599159241 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22713226079940796, + 0.12733551859855652, + 0.007348326500505209, + -3.1272735595703125, + -0.11388395726680756, + 0.8125187754631042 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, close gripper; then move back 1 cm, move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move right 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22947266697883606, + 0.12265617400407791, + 0.0024554424453526735, + -3.1148548126220703, + -0.11065878719091415, + 0.8019441366195679 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.23280112445354462, + 0.1211143508553505, + 0.0009073230903595686, + -3.1099209785461426, + -0.12139366567134857, + 0.8017625212669373 + ], + "gripper_value": 0.9383087754249573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move right 1 cm, move up 2 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23706527054309845, + 0.11904575675725937, + 0.0002639952872414142, + -3.101003646850586, + -0.15189987421035767, + 0.785932183265686 + ], + "gripper_value": 0.657115638256073 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "grasp red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move up 2 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 2, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.23603354394435883, + 0.11991960555315018, + 0.0005255446303635836, + -3.091583490371704, + -0.1544685959815979, + 0.78875732421875 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23402278125286102, + 0.11900488287210464, + 0.00025927508249878883, + -3.0883853435516357, + -0.141976997256279, + 0.801082193851471 + ], + "gripper_value": 0.3228223919868469 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition red object", + "subtask_reasoning": "The robot has approached the red object on the left side of the stovetop. The gripper is currently open and positioned near the object, with no contact yet established. The next action should be to close the gripper to grasp the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 10 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2302456945180893, + 0.11215763539075851, + 0.0025369031354784966, + -3.115485191345215, + -0.12027138471603394, + 0.831268846988678 + ], + "gripper_value": 0.32045841217041016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2282298058271408, + 0.10752429068088531, + 0.005158908665180206, + -3.129880666732788, + -0.09712661802768707, + 0.8687463998794556 + ], + "gripper_value": 0.32045841217041016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move right 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.22921568155288696, + 0.10104051232337952, + 0.01357091311365366, + -3.140855312347412, + -0.0982479602098465, + 0.9388776421546936 + ], + "gripper_value": 0.32045841217041016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "reposition red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.22967591881752014, + 0.09514185786247253, + 0.024629371240735054, + 3.1314327716827393, + -0.11047215759754181, + 1.07016122341156 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 2 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23117348551750183, + 0.08559241890907288, + 0.027138086035847664, + 3.133444309234619, + -0.11982301622629166, + 1.2557072639465332 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2448725551366806, + 0.08146565407514572, + 0.033376406878232956, + 3.073918104171753, + -0.1599014550447464, + 1.4808639287948608 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 495, + 503, + 722, + 706 + ], + "banana": [ + 260, + 601, + 434, + 835 + ], + "metal bowl": [ + 508, + 639, + 841, + 919 + ], + "sink": [ + 747, + 647, + 993, + 991 + ], + "red toy": [ + 191, + 504, + 314, + 629 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2603772282600403, + 0.08024576306343079, + 0.04422818124294281, + 3.023512125015259, + -0.14363719522953033, + 1.600182056427002 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 1 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28176671266555786, + 0.07810372114181519, + 0.04891791194677353, + 2.9983510971069336, + -0.1257278025150299, + 1.6428685188293457 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 1 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30359897017478943, + 0.07725298404693604, + 0.04640306159853935, + 2.9833734035491943, + -0.11394798010587692, + 1.6508173942565918 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 495, + 503, + 722, + 706 + ], + "banana": [ + 258, + 598, + 436, + 835 + ], + "red toy": [ + 287, + 383, + 411, + 477 + ], + "metal bowl": [ + 503, + 639, + 859, + 920 + ], + "sink": [ + 745, + 647, + 993, + 991 + ], + "white appliance": [ + 4, + 391, + 665, + 989 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object is currently grasped by the gripper and has been lifted slightly from its initial position on the left side of the stovetop. The arm is in motion, transporting the object toward the target area near the banana. The next action is to continue moving the object to the center-left location and prepare for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32516446709632874, + 0.08022051304578781, + 0.0414433553814888, + 2.9573235511779785, + -0.10602864623069763, + 1.6626617908477783 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move down 4 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3385544717311859, + 0.08498755842447281, + 0.03131013363599777, + 2.9599251747131348, + -0.11726675927639008, + 1.669001817703247 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 3 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480977714061737, + 0.0856982097029686, + 0.02042129822075367, + 2.9731595516204834, + -0.12827903032302856, + 1.663882851600647 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.353985995054245, + 0.07216597348451614, + 0.014364914037287235, + 2.9794869422912598, + -0.1441771239042282, + 1.6230376958847046 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3542455732822418, + 0.0707954689860344, + 0.009126575663685799, + 2.984959840774536, + -0.14483486115932465, + 1.6208758354187012 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555551767349243, + 0.07220812141895294, + 0.008045953698456287, + 2.9779763221740723, + -0.15683980286121368, + 1.620970606803894 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.35604581236839294, + 0.07258372753858566, + 0.0066058761440217495, + 2.975367784500122, + -0.15812477469444275, + 1.6263827085494995 + ], + "gripper_value": 0.31967243552207947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.35388922691345215, + 0.07269111275672913, + 0.004548028577119112, + 2.9787232875823975, + -0.16116544604301453, + 1.6220844984054565 + ], + "gripper_value": 0.3866458535194397 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "release red object", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505270481109619, + 0.06955520808696747, + 0.0038057155907154083, + 3.004242420196533, + -0.14281849563121796, + 1.6115565299987793 + ], + "gripper_value": 0.7011857628822327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.35040417313575745, + 0.07183843106031418, + 0.00407473836094141, + 3.002758026123047, + -0.15305447578430176, + 1.6203804016113281 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.3494671881198883, + 0.07033146172761917, + 0.003041972406208515, + 3.000861406326294, + -0.14752009510993958, + 1.621935248374939 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The red object has been successfully released and is now stationary on the stovetop near the banana. The gripper is open and no longer in contact with the object, indicating completion of the release action. The next step is to retreat the end-effector away from the stovetop area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3446253538131714, + 0.06933626532554626, + 0.0036399923264980316, + 3.008168935775757, + -0.14590711891651154, + 1.6138619184494019 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The red object has been successfully repositioned to the center-left area near the banana. The robot arm is currently elevated above the stovetop with the gripper open, indicating the release is complete. The next action is to continue retreating the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 38, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355807363986969, + 0.0682007297873497, + 0.016501132398843765, + 2.998250722885132, + -0.1467820405960083, + 1.6211655139923096 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The red object has been successfully repositioned to the center-left area near the banana. The robot arm is currently elevated above the stovetop with the gripper open, indicating the release is complete. The next action is to continue retreating the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.3363431394100189, + 0.06625252217054367, + 0.04609952121973038, + 2.9335241317749023, + -0.16696137189865112, + 1.6159307956695557 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 495, + 503, + 722, + 706 + ], + "red toy": [ + 329, + 435, + 466, + 533 + ], + "banana": [ + 258, + 598, + 436, + 835 + ], + "metal bowl": [ + 505, + 640, + 843, + 918 + ], + "sink": [ + 746, + 647, + 993, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The red object has been successfully repositioned to the center-left area near the banana. The robot arm is currently elevated above the stovetop with the gripper open, indicating the release is complete. The next action is to continue retreating the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.32752788066864014, + 0.06179850548505783, + 0.06330369412899017, + 2.895181179046631, + -0.1714632511138916, + 1.601718783378601 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red object from the left side of the stovetop to the center-left area near the banana." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red object" + }, + { + "id": 2, + "subtask": "grasp red object" + }, + { + "id": 3, + "subtask": "reposition red object" + }, + { + "id": 4, + "subtask": "release red object" + }, + { + "id": 5, + "subtask": "retreat from scene" + } + ], + "subtask_name": "retreat from scene", + "subtask_reasoning": "The red object has been successfully repositioned to the center-left area near the banana. The robot arm is currently elevated above the stovetop with the gripper open, indicating the release is complete. The next action is to continue retreating the arm away from the scene to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000956_ecot.json b/cot/chunk-0000/episode_0000956_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..bc0a9529b819d7c32f4f8b2c5d1540020a719a97 --- /dev/null +++ b/cot/chunk-0000/episode_0000956_ecot.json @@ -0,0 +1,3049 @@ +{ + "task_name": "episode_0000956", + "episode_json": "json/chunk-0000/episode_0000956.json", + "video_path": "videos/chunk-0000/image_0/episode_0000956.mp4", + "instruction": "Put the blue cube on top of the green cube.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000956.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.42685335874557495, + "std": 0.20559543371200562, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42685, std=0.20560, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 18 + ], + [ + 3, + 19, + 39 + ], + [ + 4, + 40, + 41 + ], + [ + 5, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue cube\", \"start\": 0, \"end\": 5, \"planning\": \"Move the gripper toward the blue cube on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue cube\", \"start\": 6, \"end\": 18, \"planning\": \"Close the gripper around the blue cube and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and position over green stack\", \"start\": 19, \"end\": 39, \"planning\": \"Lift the blue cube and move it horizontally to align above the green-yellow-green stack.\"},\n {\"id\": 4, \"name\": \"release blue cube on stack\", \"start\": 40, \"end\": 41, \"planning\": \"Open the gripper to release the blue cube onto the top of the green cube stack, confirmed by open gripper state and object placement in image.\"},\n {\"id\": 5, \"name\": \"retreat from stack\", \"start\": 42, \"end\": 44, \"planning\": \"Move the gripper away from the completed stack to conclude the task, with no further interaction.\"}\n ],\n \"global_plan\": \"Approach the blue cube, grasp it, lift and position it over the green cube stack, release it on top, then retreat to complete the stacking task.\",\n \"notes\": \"Segment 2 shows meaningful gripper closure (delta=0.42355) and image evidence confirms contact with blue cube, justifying 'grasp' terminology. Segments 1, 4, and 5 show no gripper closure, so contact-based verbs are used. Segment 3 is inferred as lift-and-position based on motion trajectory and final placement observed in Segment 4.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue cube", + "start": 0, + "end": 5, + "planning": "Move the gripper toward the blue cube on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue cube", + "start": 6, + "end": 18, + "planning": "Close the gripper around the blue cube and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and position over green stack", + "start": 19, + "end": 39, + "planning": "Lift the blue cube and move it horizontally to align above the green-yellow-green stack." + }, + { + "id": 4, + "name": "release blue cube on stack", + "start": 40, + "end": 41, + "planning": "Open the gripper to release the blue cube onto the top of the green cube stack, confirmed by open gripper state and object placement in image." + }, + { + "id": 5, + "name": "retreat from stack", + "start": 42, + "end": 44, + "planning": "Move the gripper away from the completed stack to conclude the task, with no further interaction." + } + ], + "global_plan": "Approach the blue cube, grasp it, lift and position it over the green cube stack, release it on top, then retreat to complete the stacking task.", + "notes": "Segment 2 shows meaningful gripper closure (delta=0.42355) and image evidence confirms contact with blue cube, justifying 'grasp' terminology. Segments 1, 4, and 5 show no gripper closure, so contact-based verbs are used. Segment 3 is inferred as lift-and-position based on motion trajectory and final placement observed in Segment 4." + } + }, + "episode_goal": "Place the blue cube on top of the green cube.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.281888484954834, + -0.06968680024147034, + 0.10802359133958817, + -3.131863832473755, + 0.11429043114185333, + 0.07902716100215912 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible in the scene. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27922523021698, + -0.06951876729726791, + 0.09862464666366577, + -3.1215224266052246, + 0.14644329249858856, + 0.0788748562335968 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible in the scene. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2778208553791046, + -0.07465562969446182, + 0.09242041409015656, + -3.1183207035064697, + 0.16632476449012756, + 0.06224539875984192 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2780006527900696, + -0.07560866326093674, + 0.09145701676607132, + -3.116741418838501, + 0.16609324514865875, + 0.06859470903873444 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792981266975403, + -0.07845854014158249, + 0.09076747298240662, + -3.1210994720458984, + 0.1532154232263565, + 0.06885197758674622 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803608775138855, + -0.0822795033454895, + 0.0882817804813385, + -3.1365549564361572, + 0.15146245062351227, + 0.05750299617648125 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "approach blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2806793451309204, + -0.08498743921518326, + 0.08006191998720169, + 3.1334052085876465, + 0.1720818281173706, + 0.03894529864192009 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27989012002944946, + -0.08572670072317123, + 0.07104483246803284, + 3.1337828636169434, + 0.1999538093805313, + 0.028431588783860207 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 115, + 163, + 996, + 995 + ], + "green arch block": [ + 430, + 443, + 581, + 594 + ], + "yellow cube": [ + 445, + 362, + 599, + 542 + ], + "blue flat block": [ + 712, + 680, + 822, + 823 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27961239218711853, + -0.0851881355047226, + 0.06550359725952148, + 3.1371521949768066, + 0.21755459904670715, + 0.02165958099067211 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792365550994873, + -0.0869595855474472, + 0.061613406985998154, + 3.1369636058807373, + 0.23006460070610046, + 0.014040783047676086 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2813815772533417, + -0.0903698056936264, + 0.06163301691412926, + 3.1333842277526855, + 0.22638985514640808, + 0.008577673695981503 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2823752164840698, + -0.09278571605682373, + 0.05770685151219368, + 3.1261537075042725, + 0.23484785854816437, + 0.011062734760344028 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot is positioned above the table with the blue cube visible to the right and the green cube stack to the left. No actions have been completed yet as the gripper remains open and stationary. The robot needs to move its end-effector closer to the blue cube to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862182855606079, + -0.09625957906246185, + 0.054137639701366425, + 3.1091842651367188, + 0.24200758337974548, + 0.00907710287719965 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2880980372428894, + -0.09314846247434616, + 0.0457598939538002, + 3.106583833694458, + 0.26411983370780945, + 0.0191123615950346 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 115, + 161, + 996, + 995 + ], + "green arch block": [ + 431, + 442, + 581, + 594 + ], + "yellow cube": [ + 445, + 362, + 599, + 543 + ], + "green cube": [ + 474, + 311, + 579, + 465 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2912842929363251, + -0.09462646394968033, + 0.04126343876123428, + 3.0941829681396484, + 0.26845091581344604, + 0.0226467065513134 + ], + "gripper_value": 0.9643021821975708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948511838912964, + -0.09050208330154419, + 0.03899035602807999, + 3.0811376571655273, + 0.26199617981910706, + 0.044561345130205154 + ], + "gripper_value": 0.672171950340271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2955964207649231, + -0.08717967569828033, + 0.03870946541428566, + 3.0708060264587402, + 0.26330167055130005, + 0.06596272438764572 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.29272809624671936, + -0.08274176716804504, + 0.03794509917497635, + 3.076019048690796, + 0.2727592885494232, + 0.08846992254257202 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29060739278793335, + -0.07547228038311005, + 0.058927588164806366, + 3.104799270629883, + 0.229557067155838, + 0.10605944693088531 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "grasp blue cube", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.286198228597641, + -0.06302130967378616, + 0.10770633816719055, + 3.0867364406585693, + 0.12265102565288544, + 0.10384117811918259 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.27341529726982117, + -0.04796707257628441, + 0.1304151862859726, + 3.1068642139434814, + 0.09268849343061447, + 0.11420146375894547 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 115, + 161, + 996, + 995 + ], + "red cube": [ + 677, + 508, + 786, + 658 + ], + "yellow cube": [ + 445, + 362, + 600, + 543 + ], + "green arch block": [ + 431, + 442, + 581, + 594 + ], + "green cube": [ + 474, + 312, + 579, + 465 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620227336883545, + -0.03453860059380531, + 0.13527292013168335, + 3.113757610321045, + 0.1005936935544014, + 0.12550973892211914 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2577238380908966, + -0.015227850526571274, + 0.12977449595928192, + 3.1286861896514893, + 0.1212327778339386, + 0.15861813724040985 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25734764337539673, + 0.004705325234681368, + 0.12979978322982788, + 3.1393206119537354, + 0.12319827824831009, + 0.1987600177526474 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630234956741333, + 0.01661592163145542, + 0.1251794397830963, + 3.138246774673462, + 0.13828693330287933, + 0.2172161340713501 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2665056586265564, + 0.01938440278172493, + 0.12042873352766037, + 3.1307783126831055, + 0.15434913337230682, + 0.2172299027442932 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679325342178345, + 0.01766599528491497, + 0.11369585990905762, + 3.1230850219726562, + 0.17506419122219086, + 0.20864887535572052 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2683914303779602, + 0.012377847917377949, + 0.11210843920707703, + 3.1151695251464844, + 0.17881019413471222, + 0.1887298822402954 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26806017756462097, + 0.010327919386327267, + 0.10978343337774277, + 3.1093316078186035, + 0.19182860851287842, + 0.1872217059135437 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The robot has approached the blue cube and is currently positioned with its gripper open directly above it. The gripper signal indicates a closing action is imminent or in progress within this segment. The next immediate action is to close the gripper to securely grasp the blue cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.26812252402305603, + 0.009029445238411427, + 0.10816344618797302, + 3.107792377471924, + 0.19835996627807617, + 0.18799832463264465 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2646240293979645, + 0.005070849321782589, + 0.10061392933130264, + 3.108447551727295, + 0.22610631585121155, + 0.17730750143527985 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26443538069725037, + 0.0036157977301627398, + 0.09952133148908615, + 3.108036994934082, + 0.22490480542182922, + 0.17806565761566162 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 114, + 156, + 996, + 995 + ], + "red cube": [ + 677, + 508, + 787, + 659 + ], + "green arch block": [ + 429, + 442, + 581, + 595 + ], + "yellow cube": [ + 442, + 364, + 599, + 543 + ], + "blue flat block": [ + 713, + 680, + 822, + 823 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 7 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.264199435710907, + 0.0033624961506575346, + 0.09918335825204849, + 3.107682943344116, + 0.22823317348957062, + 0.18150968849658966 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 7 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move right 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2639082372188568, + 0.0035830712877213955, + 0.09841420501470566, + 3.1111369132995605, + 0.23280680179595947, + 0.1875522881746292 + ], + "gripper_value": 0.5759422183036804 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26412564516067505, + 0.003597084665670991, + 0.09795460850000381, + 3.110814094543457, + 0.23275743424892426, + 0.18607382476329803 + ], + "gripper_value": 0.6249675154685974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2630956172943115, + 0.0047477358020842075, + 0.09287375211715698, + 3.113708257675171, + 0.25704050064086914, + 0.1896274983882904 + ], + "gripper_value": 0.9198530912399292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 7 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.262158066034317, + 0.006786294747143984, + 0.09316133707761765, + 3.1134371757507324, + 0.2640547752380371, + 0.2137681394815445 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.26085391640663147, + 0.006840729154646397, + 0.0996151939034462, + 3.1122028827667236, + 0.2524220645427704, + 0.2238614410161972 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26303085684776306, + 0.004084668587893248, + 0.1236034631729126, + 3.121019124984741, + 0.19022102653980255, + 0.2222680002450943 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.26145482063293457, + -0.013275410048663616, + 0.15812824666500092, + 3.134261131286621, + 0.11283215135335922, + 0.17713116109371185 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "lift and position over green stack", + "subtask_reasoning": "The blue cube is currently held by the gripper and positioned directly above the green cube stack. The approach and grasp phases are complete, and the robot is now in the positioning phase. The next action is to lower the blue cube onto the green stack to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 39 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.25945883989334106, + -0.03137343004345894, + 0.16630664467811584, + -3.136204481124878, + 0.08682319521903992, + 0.10922010242938995 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "release blue cube on stack", + "subtask_reasoning": "The blue cube is already stacked on top of the green cube, indicating the release action has been completed. The gripper is open and positioned above the stack, showing no active grasping. The next step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 40, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.25374892354011536, + -0.05620022863149643, + 0.16644205152988434, + -3.1322827339172363, + 0.09587026387453079, + 0.048182178288698196 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "release blue cube on stack", + "subtask_reasoning": "The blue cube is already stacked on top of the green cube, indicating the release action has been completed. The gripper is open and positioned above the stack, showing no active grasping. The next step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, keep gripper open; then move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 40, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.24867302179336548, + -0.07551807910203934, + 0.16308894753456116, + 3.132256031036377, + 0.09914722293615341, + 0.02895570918917656 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "retreat from stack", + "subtask_reasoning": "The blue cube is already stacked on top of the green cube, indicating the release action has been completed. The gripper is open and positioned above the stack, showing no active grasping. The next step is to retreat the arm to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 40 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24627947807312012, + -0.08576568961143494, + 0.1500529646873474, + 3.1248342990875244, + 0.09596362709999084, + 0.08238314837217331 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 115, + 160, + 996, + 995 + ], + "red cube": [ + 677, + 507, + 787, + 659 + ], + "yellow cube": [ + 444, + 366, + 598, + 543 + ], + "green arch block": [ + 430, + 443, + 580, + 595 + ] + } + } + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "retreat from stack", + "subtask_reasoning": "The blue cube is successfully stacked on top of the green cube, and the gripper is open and clear of the stack. The robot has completed the placement and is now retreating from the stack area. The next action is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.24858713150024414, + -0.09062427282333374, + 0.12892583012580872, + 3.117079973220825, + 0.10933427512645721, + 0.1336688995361328 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue cube on top of the green cube." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue cube" + }, + { + "id": 2, + "subtask": "grasp blue cube" + }, + { + "id": 3, + "subtask": "lift and position over green stack" + }, + { + "id": 4, + "subtask": "release blue cube on stack" + }, + { + "id": 5, + "subtask": "retreat from stack" + } + ], + "subtask_name": "retreat from stack", + "subtask_reasoning": "The blue cube is successfully stacked on top of the green cube, and the gripper is open and clear of the stack. The robot has completed the placement and is now retreating from the stack area. The next action is to continue moving away to finalize the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000957_ecot.json b/cot/chunk-0000/episode_0000957_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d10ae99c158c228830a55a11f4bad854e8228942 --- /dev/null +++ b/cot/chunk-0000/episode_0000957_ecot.json @@ -0,0 +1,2153 @@ +{ + "task_name": "episode_0000957", + "episode_json": "json/chunk-0000/episode_0000957.json", + "video_path": "videos/chunk-0000/image_0/episode_0000957.mp4", + "instruction": "Close microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000957.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 400, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 12 + ], + [ + 3, + 13, + 18 + ], + [ + 4, + 19, + 26 + ], + [ + 5, + 27, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the open microwave door from initial position.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 3, \"end\": 12, \"planning\": \"Position gripper to make physical contact with the microwave door handle or edge.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 13, \"end\": 18, \"planning\": \"Apply force via end-effector to slide or push the microwave door shut.\"},\n {\"id\": 4, \"name\": \"reposition after closure\", \"start\": 19, \"end\": 26, \"planning\": \"Withdraw and reorient end-effector away from the now-closed microwave door.\"},\n {\"id\": 5, \"name\": \"retreat to safe pose\", \"start\": 27, \"end\": 31, \"planning\": \"Move end-effector to a neutral or home position clear of the microwave.\"}\n ],\n \"global_plan\": \"Close the microwave door by approaching, making contact, pushing it shut, then retreating safely — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper value is constant at ~1.0 (fully open) across all segments; no grasp/lift/place actions occurred. Motion is purely positional/contact-based manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the open microwave door from initial position." + }, + { + "id": 2, + "name": "make contact with door", + "start": 3, + "end": 12, + "planning": "Position gripper to make physical contact with the microwave door handle or edge." + }, + { + "id": 3, + "name": "push door closed", + "start": 13, + "end": 18, + "planning": "Apply force via end-effector to slide or push the microwave door shut." + }, + { + "id": 4, + "name": "reposition after closure", + "start": 19, + "end": 26, + "planning": "Withdraw and reorient end-effector away from the now-closed microwave door." + }, + { + "id": 5, + "name": "retreat to safe pose", + "start": 27, + "end": 31, + "planning": "Move end-effector to a neutral or home position clear of the microwave." + } + ], + "global_plan": "Close the microwave door by approaching, making contact, pushing it shut, then retreating safely — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper value is constant at ~1.0 (fully open) across all segments; no grasp/lift/place actions occurred. Motion is purely positional/contact-based manipulation." + } + }, + "episode_goal": "Close the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24030253291130066, + 0.10500483214855194, + 0.09614921361207962, + -3.0717761516571045, + -0.12006856501102448, + 0.22024904191493988 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with its gripper fully open and no grasping action detected. The current subtask involves approaching the microwave door to prepare for closing it. The next likely action is to move closer to the door while maintaining an open gripper to ensure safe contact without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move up 4 cm, tilt forward 10 degrees, keep gripper open; then move right 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2352459877729416, + 0.10058274120092392, + 0.0907023474574089, + -3.0798447132110596, + -0.07572289556264877, + 0.23150695860385895 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no grasping action detected. The current subtask involves approaching the microwave door to prepare for closing it. The next likely action is to move closer to the door while maintaining an open gripper to make contact and push it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 5 cm, keep gripper open; then move forward 1 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.23802487552165985, + 0.07325440645217896, + 0.11563605070114136, + -3.0964980125427246, + 0.03466903790831566, + 0.27576708793640137 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no grasping action detected. The current subtask involves approaching the microwave door to prepare for closing it. The next likely action is to move closer to the door while maintaining an open gripper to make contact and push it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 2 cm, keep gripper open; then move forward 1 cm, move right 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2416837513446808, + 0.03943467140197754, + 0.13589273393154144, + 3.126622438430786, + -0.013622982427477837, + 0.2940524220466614 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "chili pepper": [ + 226, + 582, + 319, + 730 + ], + "bowl": [ + 446, + 136, + 605, + 276 + ], + "pear": [ + 373, + 658, + 446, + 776 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no grasping action detected. The current subtask involves approaching the microwave door to prepare for closing it. The next likely action is to move closer to the door while maintaining an open gripper to make contact and push it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24359604716300964, + 0.014850628562271595, + 0.1533481329679489, + 3.0785434246063232, + -0.08243439346551895, + 0.3360164761543274 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no grasping action detected. The current subtask involves approaching the microwave door to prepare for closing it. The next likely action is to move closer to the door while maintaining an open gripper to make contact and push it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24550333619117737, + -0.002508997218683362, + 0.1515316367149353, + 3.05507493019104, + -0.15241098403930664, + 0.305234432220459 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no grasping action detected. The current subtask involves approaching the microwave door to prepare for closing it. The next likely action is to move closer to the door while maintaining an open gripper to make contact and push it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25045904517173767, + -0.020803995430469513, + 0.15064887702465057, + 3.036264419555664, + -0.17266231775283813, + 0.2979063093662262 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper fully open and no grasping action detected. The current subtask involves approaching the microwave door to prepare for closing it. The next likely action is to move closer to the door while maintaining an open gripper to make contact and push it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 4 cm, move up 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2536395788192749, + -0.03521674498915672, + 0.14696988463401794, + 3.047362804412842, + -0.1565445363521576, + 0.24935157597064972 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move left 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2599928081035614, + -0.04102377966046333, + 0.14883124828338623, + 3.0633492469787598, + -0.16923534870147705, + 0.20554512739181519 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23535314202308655, + -0.04768439754843712, + 0.13949985802173615, + 3.042750120162964, + -0.09509298950433731, + 0.2183944433927536 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move right 3 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24023757874965668, + -0.04516655579209328, + 0.13200752437114716, + 3.0617268085479736, + -0.09272974729537964, + 0.2144663780927658 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move back 3 cm, move right 3 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24901485443115234, + -0.03987765684723854, + 0.11834169924259186, + 3.1010899543762207, + -0.08173617720603943, + 0.18756674230098724 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, keep gripper open; then move back 3 cm, move right 3 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.25275158882141113, + -0.023494867607951164, + 0.11386966705322266, + 3.132023572921753, + -0.08498097211122513, + 0.1720084697008133 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open; then move back 3 cm, move right 3 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24980436265468597, + 0.0012669545831158757, + 0.11213342845439911, + -3.1197988986968994, + -0.08120132237672806, + 0.17516343295574188 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 8 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24060051143169403, + 0.030960533767938614, + 0.11593358218669891, + -3.106055498123169, + -0.11814124882221222, + 0.16585934162139893 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the open door. The gripper remains fully open with no closing evidence, confirming no grasp is occurring. The next action is to make physical contact with the door to begin pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 7 cm, move left 9 cm, move down 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.22798150777816772, + 0.05309992656111717, + 0.13219650089740753, + -3.029376983642578, + -0.12172512710094452, + 0.18217594921588898 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open microwave door, having completed the approach phase. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 4 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 8 cm, move left 10 cm, move down 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2227397859096527, + 0.045580171048641205, + 0.16065269708633423, + -2.93530011177063, + -0.15179213881492615, + 0.25003284215927124 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open microwave door, having completed the approach phase. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 10 cm, move left 11 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2182363122701645, + 0.020946040749549866, + 0.16122227907180786, + -2.9137237071990967, + -0.16993756592273712, + 0.3377552330493927 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open microwave door, having completed the approach phase. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 11 cm, move left 11 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.21827659010887146, + -0.011187078431248665, + 0.12984153628349304, + -3.0714097023010254, + -0.1117827370762825, + 0.47908246517181396 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open microwave door, having completed the approach phase. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 4 cm, keep gripper open; then move forward 11 cm, move left 11 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2155892699956894, + -0.02462027221918106, + 0.09314275532960892, + 3.125927686691284, + -0.0791248008608818, + 0.5111967325210571 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open microwave door, having completed the approach phase. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move down 5 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22241292893886566, + -0.011565127409994602, + 0.06878412514925003, + 3.086775302886963, + -0.07636278122663498, + 0.4886142313480377 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open microwave door, having completed the approach phase. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, move down 2 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23007717728614807, + 0.010406303219497204, + 0.05640527978539467, + 3.0931713581085205, + -0.12116089463233948, + 0.44936296343803406 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "chili pepper": [ + 223, + 620, + 315, + 730 + ], + "sink": [ + 273, + 587, + 676, + 989 + ], + "pear": [ + 374, + 660, + 449, + 778 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The robot's end-effector is in contact with the partially open microwave door, having completed the approach phase. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 8 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2394222468137741, + 0.03081326186656952, + 0.05126939341425896, + 3.1020145416259766, + -0.15459105372428894, + 0.38550323247909546 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed contact-based closure without grasping. The arm is now retracting slightly from the door, indicating post-closure repositioning. Next, it will continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.25946560502052307, + 0.05064605548977852, + 0.05046578496694565, + 3.131413459777832, + -0.20034149289131165, + 0.33066967129707336 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed contact-based closure without grasping. The arm is now retracting slightly from the door, indicating post-closure repositioning. Next, it will continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2811374366283417, + 0.06600745767354965, + 0.048697542399168015, + 3.127488136291504, + -0.23889528214931488, + 0.29357901215553284 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "chili pepper": [ + 226, + 582, + 319, + 730 + ], + "pear": [ + 373, + 659, + 449, + 778 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed contact-based closure without grasping. The arm is now retracting slightly from the door, indicating post-closure repositioning. Next, it will continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2984703779220581, + 0.07780054956674576, + 0.04813184216618538, + 3.137244701385498, + -0.28535574674606323, + 0.2543690502643585 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed contact-based closure without grasping. The arm is now retracting slightly from the door, indicating post-closure repositioning. Next, it will continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31150832772254944, + 0.08405137062072754, + 0.04484846442937851, + 3.130903482437134, + -0.3499737083911896, + 0.26296189427375793 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "reposition after closure", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed contact-based closure without grasping. The arm is now retracting slightly from the door, indicating post-closure repositioning. Next, it will continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper open; then move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3267000615596771, + 0.08782795071601868, + 0.044466208666563034, + -3.139925718307495, + -0.42195460200309753, + 0.27278825640678406 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed contact-based closure without grasping. The arm is now retracting slightly from the door, indicating post-closure repositioning. Next, it will continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34073689579963684, + 0.09139921516180038, + 0.046867989003658295, + -3.1375300884246826, + -0.4665166139602661, + 0.27025195956230164 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The microwave door is fully closed, and the robot arm has completed contact-based closure without grasping. The arm is now retracting slightly from the door, indicating post-closure repositioning. Next, it will continue retreating to a safe distance while maintaining open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3504124879837036, + 0.09288832545280457, + 0.04802784323692322, + -3.134389877319336, + -0.5107924938201904, + 0.24958907067775726 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The microwave door is closed, and the robot arm has completed contact with the door. The current subtask involves retreating to a safe pose, with the gripper remaining fully open and no grasping action required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3571688234806061, + 0.09454803913831711, + 0.04833393916487694, + -3.1247406005859375, + -0.5366688966751099, + 0.22963477671146393 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The microwave door is closed, and the robot arm has completed contact with the door. The current subtask involves retreating to a safe pose, with the gripper remaining fully open and no grasping action required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35848182439804077, + 0.09680842608213425, + 0.04888753965497017, + -3.1066761016845703, + -0.5653533339500427, + 0.21384504437446594 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "reposition after closure" + }, + { + "id": 5, + "subtask": "retreat to safe pose" + } + ], + "subtask_name": "retreat to safe pose", + "subtask_reasoning": "The microwave door is closed, and the robot arm has completed contact with the door. The current subtask involves retreating to a safe pose, with the gripper remaining fully open and no grasping action required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000958_ecot.json b/cot/chunk-0000/episode_0000958_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..03ef00809435b8ab9365b6df4d007c8416a262be --- /dev/null +++ b/cot/chunk-0000/episode_0000958_ecot.json @@ -0,0 +1,1285 @@ +{ + "task_name": "episode_0000958", + "episode_json": "json/chunk-0000/episode_0000958.json", + "video_path": "videos/chunk-0000/image_0/episode_0000958.mp4", + "instruction": "Put lid on pot or pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000958.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.711617112159729, + "std": 0.32319319248199463, + "delta_total": -0.711617112159729, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.71162, std=0.32319, total_delta=-0.71162). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 8 + ], + [ + 3, + 9, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lid\", \"start\": 0, \"end\": 3, \"planning\": \"Move the gripper down toward the lid resting in the sink basin.\"},\n {\"id\": 2, \"name\": \"grasp lid\", \"start\": 4, \"end\": 8, \"planning\": \"Close the gripper around the lid handle to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift lid\", \"start\": 9, \"end\": 14, \"planning\": \"Lift the grasped lid vertically out of the sink basin.\"},\n {\"id\": 4, \"name\": \"place lid on pot\", \"start\": 15, \"end\": 19, \"planning\": \"Move the lid over the pot and lower it to cover the opening.\"}\n ],\n \"global_plan\": \"Approach the lid in the sink, grasp it securely, lift it clear of the basin, and place it onto the adjacent pot.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.467), supporting 'grasp' wording. Segment 2 is a single frame with no gripper change but follows grasp completion. Segment 3 shows no gripper change (range=0.00074) but clear lifting and placing motion in images, so 'lift' and 'place' are justified by visual evidence despite static gripper value.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lid", + "start": 0, + "end": 3, + "planning": "Move the gripper down toward the lid resting in the sink basin." + }, + { + "id": 2, + "name": "grasp lid", + "start": 4, + "end": 8, + "planning": "Close the gripper around the lid handle to secure a firm hold." + }, + { + "id": 3, + "name": "lift lid", + "start": 9, + "end": 14, + "planning": "Lift the grasped lid vertically out of the sink basin." + }, + { + "id": 4, + "name": "place lid on pot", + "start": 15, + "end": 19, + "planning": "Move the lid over the pot and lower it to cover the opening." + } + ], + "global_plan": "Approach the lid in the sink, grasp it securely, lift it clear of the basin, and place it onto the adjacent pot.", + "notes": "Segment 1 shows gripper closing (delta=-0.467), supporting 'grasp' wording. Segment 2 is a single frame with no gripper change but follows grasp completion. Segment 3 shows no gripper change (range=0.00074) but clear lifting and placing motion in images, so 'lift' and 'place' are justified by visual evidence despite static gripper value." + } + }, + "episode_goal": "Place the lid on the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26082953810691833, + -0.012621216475963593, + 0.1091654896736145, + 3.0329556465148926, + 0.01865546777844429, + 0.23894928395748138 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot arm is positioned above the sink with the gripper open, hovering near the pot and lid. No objects have been grasped yet as the gripper remains fully open. The next action is to move the end-effector closer to the lid to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25776663422584534, + -0.014468188397586346, + 0.09509874880313873, + 3.029362201690674, + 0.053913798183202744, + 0.24432028830051422 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open, hovering near the pot and lid. No objects have been grasped yet as the gripper remains fully open. The next action is to lower the arm to align the gripper with the lid handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move back 1 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25632262229919434, + -0.011964114382863045, + 0.08206109702587128, + 3.021972179412842, + 0.07119578868150711, + 0.26828017830848694 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open, hovering near the pot and lid. No objects have been grasped yet as the gripper remains fully open. The next action is to lower the arm to align the gripper with the lid handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25403153896331787, + -0.011585128493607044, + 0.07185130566358566, + 3.0263586044311523, + 0.08738252520561218, + 0.2712498903274536 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "approach lid", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open, hovering near the pot and lid. No objects have been grasped yet as the gripper remains fully open. The next action is to lower the arm to align the gripper with the lid handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25301307439804077, + -0.01153367105871439, + 0.0634998083114624, + 3.033989429473877, + 0.12669737637043, + 0.2749738097190857 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open, hovering near the pot and lid. No objects have been grasped yet as the gripper remains fully open. The next action is to lower the arm to align the gripper with the lid handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2570855915546417, + -0.008722175844013691, + 0.05759037658572197, + 3.042070150375366, + 0.15439946949481964, + 0.28055551648139954 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot is positioned above the sink with the gripper open, hovering near the pot and lid. No objects have been grasped yet as the gripper remains fully open. The next action is to lower the arm to align the gripper with the lid handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26004868745803833, + -0.007270025555044413, + 0.05573635920882225, + 3.040416955947876, + 0.14756515622138977, + 0.2786720395088196 + ], + "gripper_value": 0.817743182182312 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 11, + 235, + 345, + 546 + ], + "dish rack": [ + 110, + 20, + 470, + 347 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the metal lid located in the sink basin. The gripper is currently open and aligned with the lid's handle, indicating the approach phase is complete. The next immediate action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.26123547554016113, + -0.00593293271958828, + 0.05529409646987915, + 3.036815643310547, + 0.1553128957748413, + 0.2814505398273468 + ], + "gripper_value": 0.5344430208206177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the metal lid located in the sink basin. The gripper is currently open and aligned with the lid's handle, indicating the approach phase is complete. The next immediate action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move back 2 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.25087088346481323, + -0.008388843387365341, + 0.05719595402479172, + 3.0370497703552246, + 0.15242022275924683, + 0.2762838304042816 + ], + "gripper_value": 0.32124534249305725 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "grasp lid", + "subtask_reasoning": "The robot arm is positioned directly above the metal lid located in the sink basin. The gripper is currently open and aligned with the lid's handle, indicating the approach phase is complete. The next immediate action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move forward 2 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move back 3 cm, move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.24358998239040375, + -0.012688104063272476, + 0.06420920044183731, + 3.0259287357330322, + 0.10037101060152054, + 0.2525535821914673 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot arm is positioned directly above the metal lid located in the sink basin. The gripper is currently open and aligned with the lid's handle, indicating the approach phase is complete. The next immediate action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 10 cm, tilt left 10 degrees, keep gripper closed; then move back 5 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24387578666210175, + -0.01544396486133337, + 0.07480679452419281, + 3.0220589637756348, + 0.0461239367723465, + 0.20552803575992584 + ], + "gripper_value": 0.2906041443347931 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot arm is positioned directly above the metal lid located in the sink basin. The gripper is currently open and aligned with the lid's handle, indicating the approach phase is complete. The next immediate action is to close the gripper to securely grasp the lid." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 9 cm, tilt left 10 degrees, keep gripper closed; then move back 5 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2559632956981659, + -0.01887340098619461, + 0.09613742679357529, + 3.0438618659973145, + 0.017988985404372215, + 0.16249996423721313 + ], + "gripper_value": 0.2906041443347931 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot has approached and grasped the lid in the sink. The current subtask involves lifting the lid clear of the basin, with the gripper maintaining a stable hold. The next action is to continue lifting the lid upward to clear the sink edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 7 cm, tilt left 10 degrees, keep gripper closed; then move back 5 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26965633034706116, + -0.021142860874533653, + 0.11831764876842499, + 3.0853986740112305, + 0.01272477675229311, + 0.16193245351314545 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot has approached and grasped the lid in the sink. The current subtask involves lifting the lid clear of the basin, with the gripper maintaining a stable hold. The next action is to continue lifting the lid upward to clear the sink edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, keep gripper closed; then move back 5 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27347514033317566, + -0.021696163341403008, + 0.13715210556983948, + 3.1172287464141846, + 0.01863938942551613, + 0.18233467638492584 + ], + "gripper_value": 0.2906041443347931 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot has approached and grasped the lid in the sink. The current subtask involves lifting the lid clear of the basin, with the gripper maintaining a stable hold. The next action is to continue lifting the lid upward to clear the sink edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper closed; then move back 5 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26871857047080994, + -0.019799740985035896, + 0.1584743708372116, + 3.126781702041626, + 0.013880258426070213, + 0.2211197465658188 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "lift lid", + "subtask_reasoning": "The robot has approached and grasped the lid in the sink. The current subtask involves lifting the lid clear of the basin, with the gripper maintaining a stable hold. The next action is to continue lifting the lid upward to clear the sink edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper closed; then move back 5 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.263084352016449, + -0.01736556552350521, + 0.16758324205875397, + 3.1362545490264893, + 0.03381555527448654, + 0.2474813461303711 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has approached and grasped the lid in the sink. The current subtask involves lifting the lid clear of the basin, with the gripper maintaining a stable hold. The next action is to continue lifting the lid upward to clear the sink edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2590688467025757, + 0.006431594956666231, + 0.17827291786670685, + 3.1237359046936035, + 0.053181663155555725, + 0.33070945739746094 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The robot has approached and grasped the lid in the sink. The current subtask involves lifting the lid clear of the basin, with the gripper maintaining a stable hold. The next action is to continue lifting the lid upward to clear the sink edge." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24543796479701996, + 0.028451180085539818, + 0.17973299324512482, + 3.1014041900634766, + 0.05535447970032692, + 0.3854449987411499 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The lid is currently held above the pot in the sink, aligned for placement. The gripper remains open and stable with no closing motion, indicating the lid is being positioned rather than grasped. The next action is to lower the lid onto the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.22898411750793457, + 0.04947436973452568, + 0.17990338802337646, + 3.1098639965057373, + 0.07382629811763763, + 0.4472465515136719 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The lid is currently held above the pot in the sink, aligned for placement. The gripper remains open and stable with no closing motion, indicating the lid is being positioned rather than grasped. The next action is to lower the lid onto the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.21492061018943787, + 0.06059981510043144, + 0.18163689970970154, + 3.1019504070281982, + 0.08337194472551346, + 0.4896532893180847 + ], + "gripper_value": 0.2898603677749634 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sponge": [ + 637, + 515, + 805, + 754 + ], + "pot": [ + 9, + 254, + 345, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Place the lid on the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lid" + }, + { + "id": 2, + "subtask": "grasp lid" + }, + { + "id": 3, + "subtask": "lift lid" + }, + { + "id": 4, + "subtask": "place lid on pot" + } + ], + "subtask_name": "place lid on pot", + "subtask_reasoning": "The lid is currently held above the pot in the sink, aligned for placement. The gripper remains open and stable with no closing motion, indicating the lid is being positioned rather than grasped. The next action is to lower the lid onto the pot to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000959_ecot.json b/cot/chunk-0000/episode_0000959_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b9ad94f25d28c6f6fcc5d793913eeaa92511a9d8 --- /dev/null +++ b/cot/chunk-0000/episode_0000959_ecot.json @@ -0,0 +1,7592 @@ +{ + "task_name": "episode_0000959", + "episode_json": "json/chunk-0000/episode_0000959.json", + "video_path": "videos/chunk-0000/image_0/episode_0000959.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 89, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000959.json" + }, + "fps": 5.0, + "T_eff": 89, + "gripper_behavior_summary": { + "available": true, + "range": 0.6511650085449219, + "std": 0.22882972657680511, + "delta_total": 0.0006629228591918945, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.65117, std=0.22883, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 500, + 500, + 511, + 511, + 511, + 511, + 511, + 611, + 611, + 611, + 611, + 611, + 611, + 611, + 611, + 711, + 711, + 711, + 711, + 711, + 711, + 711, + 711, + 711, + 711, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 811, + 411, + 411, + 411, + 411, + 411, + 411, + 411, + 411, + 411, + 311, + 311, + 311, + 311, + 311, + 311, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 11, + 11, + 11, + 11, + 11, + 85, + 85, + 85, + 85 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 10 + ], + [ + 3, + 11, + 15 + ], + [ + 4, + 16, + 23 + ], + [ + 5, + 24, + 33 + ], + [ + 6, + 34, + 49 + ], + [ + 7, + 50, + 58 + ], + [ + 8, + 59, + 64 + ], + [ + 9, + 65, + 79 + ], + [ + 10, + 80, + 84 + ], + [ + 11, + 85, + 88 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach initial sweep position\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector to starting position near the left side of the tray with gripper open.\"},\n {\"id\": 2, \"name\": \"first sweep motion\", \"start\": 9, \"end\": 15, \"planning\": \"Execute initial sweeping motion across scattered objects toward center-right using contact-based pushing.\"},\n {\"id\": 3, \"name\": \"reposition for second sweep\", \"start\": 16, \"end\": 23, \"planning\": \"Retract and reposition end-effector to prepare for next sweep pass from a different angle.\"},\n {\"id\": 4, \"name\": \"second sweep motion\", \"start\": 24, \"end\": 33, \"planning\": \"Perform second sweeping pass to consolidate objects further into a growing pile.\"},\n {\"id\": 5, \"name\": \"adjust and refine pile\", \"start\": 34, \"end\": 49, \"planning\": \"Make fine adjustments by nudging stray items into the main cluster using gentle contact.\"},\n {\"id\": 6, \"name\": \"third sweep consolidation\", \"start\": 50, \"end\": 58, \"planning\": \"Execute third broad sweep to gather remaining dispersed items toward the central pile.\"},\n {\"id\": 7, \"name\": \"final positioning before release\", \"start\": 59, \"end\": 64, \"planning\": \"Position end-effector above consolidated pile in preparation for final adjustment or release.\"},\n {\"id\": 8, \"name\": \"minor pile refinement\", \"start\": 65, \"end\": 79, \"planning\": \"Apply small corrective pushes to tighten the pile geometry without lifting any objects.\"},\n {\"id\": 9, \"name\": \"withdraw from pile area\", \"start\": 80, \"end\": 84, \"planning\": \"Lift and retreat end-effector away from the completed pile to avoid disturbance.\"},\n {\"id\": 10, \"name\": \"gripper closure confirmation\", \"start\": 85, \"end\": 88, \"planning\": \"Close gripper fully as final action, possibly signaling task completion or readiness for next phase.\"}\n ],\n \"global_plan\": \"Sweep scattered hardware items on tray into a consolidated pile using sequential contact-based pushing motions, followed by gripper closure at end.\",\n \"notes\": \"No grasping or lifting observed; all manipulation is via sliding/pushing. Gripper closes only in final segment (85-88), consistent with segment-level evidence showing meaningful closing range=0.27861.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach initial sweep position", + "start": 0, + "end": 8, + "planning": "Move end-effector to starting position near the left side of the tray with gripper open." + }, + { + "id": 2, + "name": "first sweep motion", + "start": 9, + "end": 15, + "planning": "Execute initial sweeping motion across scattered objects toward center-right using contact-based pushing." + }, + { + "id": 3, + "name": "reposition for second sweep", + "start": 16, + "end": 23, + "planning": "Retract and reposition end-effector to prepare for next sweep pass from a different angle." + }, + { + "id": 4, + "name": "second sweep motion", + "start": 24, + "end": 33, + "planning": "Perform second sweeping pass to consolidate objects further into a growing pile." + }, + { + "id": 5, + "name": "adjust and refine pile", + "start": 34, + "end": 49, + "planning": "Make fine adjustments by nudging stray items into the main cluster using gentle contact." + }, + { + "id": 6, + "name": "third sweep consolidation", + "start": 50, + "end": 58, + "planning": "Execute third broad sweep to gather remaining dispersed items toward the central pile." + }, + { + "id": 7, + "name": "final positioning before release", + "start": 59, + "end": 64, + "planning": "Position end-effector above consolidated pile in preparation for final adjustment or release." + }, + { + "id": 8, + "name": "minor pile refinement", + "start": 65, + "end": 79, + "planning": "Apply small corrective pushes to tighten the pile geometry without lifting any objects." + }, + { + "id": 9, + "name": "withdraw from pile area", + "start": 80, + "end": 84, + "planning": "Lift and retreat end-effector away from the completed pile to avoid disturbance." + }, + { + "id": 10, + "name": "gripper closure confirmation", + "start": 85, + "end": 88, + "planning": "Close gripper fully as final action, possibly signaling task completion or readiness for next phase." + } + ], + "global_plan": "Sweep scattered hardware items on tray into a consolidated pile using sequential contact-based pushing motions, followed by gripper closure at end.", + "notes": "No grasping or lifting observed; all manipulation is via sliding/pushing. Gripper closes only in final segment (85-88), consistent with segment-level evidence showing meaningful closing range=0.27861." + } + }, + "episode_goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3237863779067993, + -0.004179941024631262, + 0.019965877756476402, + -3.0253937244415283, + -0.07235436141490936, + 0.263568639755249 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet. The next action is to move the gripper closer to the tray surface to begin the first contact-based push." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 6 cm, rotate clockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31797170639038086, + -0.004884826950728893, + 0.01116903591901064, + -3.0158138275146484, + -0.041995421051979065, + 0.26397377252578735 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet. The next action is to move the gripper closer to the tray surface to begin the first contact-based push." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30844491720199585, + 0.00903089065104723, + 0.005534790921956301, + -2.958322525024414, + -0.03382984176278114, + 0.30198904871940613 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet. The next action is to move the gripper closer to the tray surface to begin the first contact-based push." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 11 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952922582626343, + 0.040458280593156815, + 0.0018119591986760497, + -2.919886827468872, + -0.03125259652733803, + 0.40933120250701904 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet. The next action is to move the gripper closer to the tray surface to begin the first contact-based push." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 8 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2871210277080536, + 0.07002072036266327, + 0.019329063594341278, + -2.9313902854919434, + -0.09426352381706238, + 0.501556932926178 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 4, + 269, + 814, + 994 + ], + "yellow object": [ + 429, + 93, + 466, + 140 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 6 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.285746693611145, + 0.09905752539634705, + 0.01674826256930828, + -3.029757022857666, + -0.10368674993515015, + 0.5475035905838013 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, close gripper; then move left 2 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28530994057655334, + 0.1134771853685379, + 0.0026824993547052145, + -3.1194937229156494, + -0.11355645954608917, + 0.5532910227775574 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28596383333206177, + 0.11826618760824203, + -0.012151275761425495, + 3.138396978378296, + -0.11036153882741928, + 0.5663937926292419 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2896037697792053, + 0.11730580031871796, + -0.025310011580586433, + 3.1313834190368652, + -0.076070137321949, + 0.5520546436309814 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "approach initial sweep position", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29131942987442017, + 0.11928602308034897, + -0.040442582219839096, + -3.1353461742401123, + -0.02590598165988922, + 0.5403826832771301 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "first sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888581156730652, + 0.12102752178907394, + -0.044501740485429764, + -3.11696195602417, + -0.012093961238861084, + 0.5396363139152527 + ], + "gripper_value": 0.7797733545303345 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "first sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28593048453330994, + 0.11981901526451111, + -0.044421374797821045, + -3.115931510925293, + -0.023364251479506493, + 0.541782021522522 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "first sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 8 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805440127849579, + 0.12020515650510788, + -0.03571445494890213, + -3.100450277328491, + -0.021651966497302055, + 0.5363909602165222 + ], + "gripper_value": 0.3610773980617523 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "first sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779863476753235, + 0.11589440703392029, + -0.027953706681728363, + -3.1189186573028564, + 0.0042005074210464954, + 0.5264736413955688 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "first sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.276510089635849, + 0.12220340222120285, + -0.01764393225312233, + -3.0774943828582764, + 0.012044360861182213, + 0.5000914931297302 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "first sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.287249892950058, + 0.14128966629505157, + -0.012291017919778824, + -2.998692750930786, + -0.017156589776277542, + 0.629261314868927 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "first sweep motion", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move forward 10 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28296488523483276, + 0.15606841444969177, + -0.03233686089515686, + -2.976769208908081, + 0.02755449153482914, + 0.6875572800636292 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874394357204437, + 0.1695927530527115, + -0.04346471652388573, + -2.9511802196502686, + 0.05006833374500275, + 0.7227303981781006 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 2 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.30065643787384033, + 0.17780092358589172, + -0.04541708156466484, + -2.941479444503784, + 0.03569255396723747, + 0.715133011341095 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 6, + 235, + 813, + 994 + ], + "yellow object": [ + 430, + 93, + 466, + 138 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot arm is positioned above the white tray containing scattered screws and bolts, with the gripper open. No sweeping has occurred yet; the arm is approaching the initial sweep position. The next action should involve moving the gripper closer to the hardware items to begin contact-based pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move back 2 cm, move right 14 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32615384459495544, + 0.18109360337257385, + -0.04678519815206528, + -2.9411652088165283, + 0.030224569141864777, + 0.6303589344024658 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 3 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 4 cm, move right 18 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34503135085105896, + 0.1817992627620697, + -0.044424865394830704, + -2.9149153232574463, + 0.00794969405978918, + 0.4964207708835602 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move back 4 cm, move right 20 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3610178828239441, + 0.18607814610004425, + -0.041992105543613434, + -2.878692626953125, + -0.010038407519459724, + 0.3692600429058075 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 20 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37018507719039917, + 0.18453998863697052, + -0.04156147688627243, + -2.8758764266967773, + -0.018391849473118782, + 0.22350211441516876 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move right 20 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.381430983543396, + 0.17196807265281677, + -0.042680107057094574, + -2.8968958854675293, + -0.026332590728998184, + 0.06955279409885406 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "reposition for second sweep", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 6 cm, move right 18 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3876260221004486, + 0.14729800820350647, + -0.04811634123325348, + -2.947160243988037, + -0.020814452320337296, + 0.004574879538267851 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 15 cm, move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3880978524684906, + 0.1195564866065979, + -0.055280279368162155, + -2.9714324474334717, + -0.018909119069576263, + -0.061997801065444946 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 12 cm, move up 6 cm, keep gripper closed; then move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3895770311355591, + 0.09093970060348511, + -0.057651620358228683, + -3.0124013423919678, + -0.058568377047777176, + -0.1079799011349678 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move up 6 cm, keep gripper closed; then move left 8 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3815905451774597, + 0.05249769240617752, + -0.05768629536032677, + -3.0210554599761963, + -0.04107308387756348, + -0.17989493906497955 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 13 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3674794137477875, + 0.005677422974258661, + -0.055314794182777405, + -3.0302317142486572, + -0.026875771582126617, + -0.23512506484985352 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 5, + 241, + 814, + 994 + ], + "yellow object": [ + 429, + 93, + 466, + 140 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35214588046073914, + -0.03237411379814148, + -0.053448352962732315, + -3.0384624004364014, + -0.011740188114345074, + -0.2889673709869385 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3440883755683899, + -0.05408236384391785, + -0.051193829625844955, + -3.0576043128967285, + -0.01147445198148489, + -0.3051179051399231 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 16 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33743345737457275, + -0.05739528313279152, + -0.04924705624580383, + -3.0836188793182373, + -0.010911606252193451, + -0.2780138850212097 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 14 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.33246955275535583, + -0.05510779097676277, + -0.04135700315237045, + -3.076054334640503, + -0.007794986478984356, + -0.25300437211990356 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3289448022842407, + -0.0348438024520874, + -0.025458859279751778, + -3.0344150066375732, + -0.021002070978283882, + -0.1904686838388443 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "second sweep motion", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3355541229248047, + -0.0012394965160638094, + 0.0018840704578906298, + -3.051483154296875, + -0.0974825918674469, + -0.08194583654403687 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.33470702171325684, + 0.04058852791786194, + 0.015469144098460674, + -3.018209934234619, + -0.11703561991453171, + 0.00903015024960041 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 6, + 239, + 814, + 994 + ], + "yellow object": [ + 430, + 93, + 466, + 140 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.33927014470100403, + 0.07426897436380386, + 0.01880740374326706, + -2.926130533218384, + -0.10564646869897842, + 0.08067641407251358 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 13 cm, move down 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3272031545639038, + 0.12985341250896454, + -0.00947893038392067, + -2.8842051029205322, + -0.051003988832235336, + 0.17454952001571655 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 20 cm, move down 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.3171200156211853, + 0.17412175238132477, + -0.03815506398677826, + -2.886017322540283, + -0.05748296156525612, + 0.21687360107898712 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 26 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.31498274207115173, + 0.1804524064064026, + -0.0439143069088459, + -2.8711981773376465, + -0.09017134457826614, + 0.2222914695739746 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 27 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.30513495206832886, + 0.1604522317647934, + -0.04904477298259735, + -2.8761603832244873, + -0.06978067755699158, + 0.2394048422574997 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The robot has completed the first sweep and is currently repositioning above the white tray to align for a second sweeping motion. The gripper remains open with no closing evidence, indicating a contact-based push is next rather than a grasp. The end-effector is moving laterally to target the remaining scattered screws and bolts." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 26 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2883569002151489, + 0.13425913453102112, + -0.04929651692509651, + -2.9107370376586914, + -0.0809110775589943, + 0.3047424852848053 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 23 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.27664458751678467, + 0.088983453810215, + -0.05061740055680275, + -2.9321842193603516, + -0.05643070489168167, + 0.30878275632858276 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 19 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2805810272693634, + 0.055156659334897995, + -0.05196712166070938, + -2.9544944763183594, + -0.06361036747694016, + 0.28698909282684326 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 15 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.29147085547447205, + 0.018363673239946365, + -0.05432223528623581, + -2.9733920097351074, + -0.08110382407903671, + 0.2575012445449829 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.31084227561950684, + -0.018443448469042778, + -0.05688880756497383, + -3.016517400741577, + -0.0895177572965622, + 0.2397461086511612 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 5, + 269, + 814, + 995 + ], + "yellow object": [ + 429, + 93, + 466, + 140 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 8 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254029452800751, + -0.05389358848333359, + -0.05786672979593277, + -3.0691792964935303, + -0.09218064695596695, + 0.23869657516479492 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 9 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.33411434292793274, + -0.07290272414684296, + -0.056928277015686035, + -3.0836281776428223, + -0.08889718353748322, + 0.22478437423706055 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 13 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.3466311991214752, + -0.08302304148674011, + -0.05239003151655197, + -3.0969138145446777, + -0.08883120864629745, + 0.2316727340221405 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 19 cm, move up 3 cm, tilt left 20 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.35318946838378906, + -0.08959337323904037, + -0.049521446228027344, + -3.089686632156372, + -0.07809923589229584, + 0.1793750673532486 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "adjust and refine pile", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 23 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 49 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 34, + "end": 49 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.35611921548843384, + -0.09625472128391266, + -0.04740948975086212, + -3.09074330329895, + -0.05729503184556961, + 0.060371313244104385 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 23 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 5 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.35040774941444397, + -0.09806739538908005, + -0.047060735523700714, + -3.087000608444214, + -0.016084568575024605, + -0.09323937445878983 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 23 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.3428822159767151, + -0.10427773743867874, + -0.045806050300598145, + -3.0837182998657227, + -0.021794142201542854, + -0.1429055631160736 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 24 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 2 cm, move left 6 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 53, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377665877342224, + -0.10560806840658188, + -0.04277091845870018, + -3.0906636714935303, + -0.03344915434718132, + -0.13765135407447815 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The gripper is in contact with the hardware items on the white tray, actively pushing scattered screws and bolts toward the existing cluster. Previous sweeping motions have consolidated some items, but several remain dispersed. The next action should continue the contact-based pushing motion to gather the remaining loose items into the main pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 24 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 54, + "state_action_evidence": { + "ee_state_6d": [ + 0.3389509618282318, + -0.08472955971956253, + -0.03836527466773987, + -3.0862038135528564, + -0.051166828721761703, + -0.052061598747968674 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 22 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 4 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 55, + "state_action_evidence": { + "ee_state_6d": [ + 0.3501818776130676, + -0.05135476216673851, + -0.028895730152726173, + -3.0738537311553955, + -0.08910210430622101, + 0.041470758616924286 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 5 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 56, + "state_action_evidence": { + "ee_state_6d": [ + 0.36031290888786316, + -0.005198168568313122, + -0.0018026184989139438, + -3.0017220973968506, + -0.1566196084022522, + 0.12671814858913422 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 5, + 237, + 814, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 57, + "state_action_evidence": { + "ee_state_6d": [ + 0.35797232389450073, + 0.03289058059453964, + 0.0012310927268117666, + -2.922607421875, + -0.16682827472686768, + 0.1586248278617859 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move right 6 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 58, + "state_action_evidence": { + "ee_state_6d": [ + 0.34050750732421875, + 0.08923523128032684, + -0.01908128708600998, + -2.838675022125244, + -0.1016494557261467, + 0.2610342502593994 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "third sweep consolidation", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move forward 5 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 11 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 58 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 50, + "end": 58 + } + }, + { + "t": 59, + "state_action_evidence": { + "ee_state_6d": [ + 0.33190691471099854, + 0.13321223855018616, + -0.027795830741524696, + -2.861760139465332, + -0.1117568239569664, + 0.3181203603744507 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 5, + 263, + 814, + 995 + ], + "yellow object": [ + 429, + 93, + 466, + 139 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "final positioning before release", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 14 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 59, + "end": 64 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232278823852539, + 0.18185901641845703, + -0.03970876708626747, + -2.84584903717041, + -0.07054604589939117, + 0.4235149025917053 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "final positioning before release", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 18 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 59, + "end": 64 + } + }, + { + "t": 61, + "state_action_evidence": { + "ee_state_6d": [ + 0.3376311957836151, + 0.1902824193239212, + -0.04145757853984833, + -2.837336301803589, + -0.060407646000385284, + 0.4213602840900421 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "final positioning before release", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 22 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 59, + "end": 64 + } + }, + { + "t": 62, + "state_action_evidence": { + "ee_state_6d": [ + 0.35151487588882446, + 0.1977645754814148, + -0.04212164878845215, + -2.82515025138855, + -0.07976361364126205, + 0.39582645893096924 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "final positioning before release", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 25 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 59, + "end": 64 + } + }, + { + "t": 63, + "state_action_evidence": { + "ee_state_6d": [ + 0.36340662837028503, + 0.2048765867948532, + -0.039537783712148666, + -2.778254985809326, + -0.08267667144536972, + 0.3059588074684143 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "final positioning before release", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 28 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 59, + "end": 64 + } + }, + { + "t": 64, + "state_action_evidence": { + "ee_state_6d": [ + 0.3768514096736908, + 0.20191922783851624, + -0.040576573461294174, + -2.7425389289855957, + -0.0672185942530632, + 0.19285458326339722 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "final positioning before release", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 30 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 64 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 59, + "end": 64 + } + }, + { + "t": 65, + "state_action_evidence": { + "ee_state_6d": [ + 0.38589057326316833, + 0.1843419373035431, + -0.039847664535045624, + -2.7175650596618652, + -0.019937101751565933, + 0.015157566405832767 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 30 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 66, + "state_action_evidence": { + "ee_state_6d": [ + 0.391067236661911, + 0.15437328815460205, + -0.043221596628427505, + -2.736682891845703, + -0.02064327336847782, + -0.07437152415513992 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 27 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 67, + "state_action_evidence": { + "ee_state_6d": [ + 0.3843628168106079, + 0.12783581018447876, + -0.04818651080131531, + -2.7944815158843994, + -0.05586158111691475, + -0.04485786706209183 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 24 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 68, + "state_action_evidence": { + "ee_state_6d": [ + 0.38039088249206543, + 0.07893572747707367, + -0.05015542730689049, + -2.8335325717926025, + -0.061086006462574005, + -0.07347799837589264 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 20 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 69, + "state_action_evidence": { + "ee_state_6d": [ + 0.37346121668815613, + 0.04291950538754463, + -0.05064930394291878, + -2.860339879989624, + -0.06413741409778595, + -0.09282068908214569 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 14 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.36933544278144836, + 0.003050156170502305, + -0.05039441958069801, + -2.871434211730957, + -0.06561277061700821, + -0.13130784034729004 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643956482410431, + -0.03808039426803589, + -0.04991428926587105, + -2.8858790397644043, + -0.06384184956550598, + -0.17691831290721893 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 4, + 239, + 814, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The robot is in the middle of the third sweep consolidation, pushing scattered screws and bolts toward a central pile on the white tray. Previous sweeps have partially grouped items, but further consolidation is needed. The gripper remains open with no closing evidence, indicating continued contact-based pushing; the next action is to complete this sweep motion to further consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 54 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.35594454407691956, + -0.07045742869377136, + -0.04898538067936897, + -2.907541275024414, + -0.06811953336000443, + -0.21033436059951782 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 11 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480397164821625, + -0.0995735302567482, + -0.04819164425134659, + -2.906966209411621, + -0.06680846214294434, + -0.25458014011383057 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 15 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.3432897627353668, + -0.11286063492298126, + -0.04635024815797806, + -2.9217543601989746, + -0.07862008363008499, + -0.2774627208709717 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.33620983362197876, + -0.11382271349430084, + -0.044802214950323105, + -2.947627544403076, + -0.08450391888618469, + -0.2668400704860687 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 76, + "state_action_evidence": { + "ee_state_6d": [ + 0.32772335410118103, + -0.11551641672849655, + -0.04150737449526787, + -2.981627941131592, + -0.09727012366056442, + -0.27130240201950073 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 4 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 77, + "state_action_evidence": { + "ee_state_6d": [ + 0.3241879343986511, + -0.1164098009467125, + -0.03207894042134285, + -2.9957196712493896, + -0.12045110017061234, + -0.2772637605667114 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 78, + "state_action_evidence": { + "ee_state_6d": [ + 0.32093966007232666, + -0.11632902175188065, + -0.020874280482530594, + -3.007120132446289, + -0.14370235800743103, + -0.2767467498779297 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 79, + "state_action_evidence": { + "ee_state_6d": [ + 0.32764318585395813, + -0.09608229249715805, + -0.00841513928025961, + -2.983642339706421, + -0.17460933327674866, + -0.17330743372440338 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "minor pile refinement", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 18 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 79 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 8, + "start": 65, + "end": 79 + } + }, + { + "t": 80, + "state_action_evidence": { + "ee_state_6d": [ + 0.33114051818847656, + -0.05140348896384239, + -0.0028214247431606054, + -2.9283039569854736, + -0.15420742332935333, + 0.005650315899401903 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "withdraw from pile area", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 30 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 80, + "end": 84 + } + }, + { + "t": 81, + "state_action_evidence": { + "ee_state_6d": [ + 0.33490604162216187, + 0.0059505971148610115, + -0.0025805889163166285, + -2.9432458877563477, + -0.1610538512468338, + 0.2414981573820114 + ], + "gripper_value": 0.36024010181427 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tray": [ + 4, + 238, + 814, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "withdraw from pile area", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 80, + "end": 84 + } + }, + { + "t": 82, + "state_action_evidence": { + "ee_state_6d": [ + 0.3288208246231079, + 0.05615858733654022, + -0.01417328417301178, + -2.973454713821411, + -0.1454506516456604, + 0.43201711773872375 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "withdraw from pile area", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 80, + "end": 84 + } + }, + { + "t": 83, + "state_action_evidence": { + "ee_state_6d": [ + 0.31575727462768555, + 0.10281452536582947, + -0.027642633765935898, + -3.0105056762695312, + -0.10339263081550598, + 0.5342653393745422 + ], + "gripper_value": 0.35940393805503845 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "withdraw from pile area", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 80, + "end": 84 + } + }, + { + "t": 84, + "state_action_evidence": { + "ee_state_6d": [ + 0.30991119146347046, + 0.13051660358905792, + -0.03848912939429283, + -3.064225435256958, + -0.07749450951814651, + 0.6011163592338562 + ], + "gripper_value": 0.4292689263820648 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "withdraw from pile area", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 84 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 9, + "start": 80, + "end": 84 + } + }, + { + "t": 85, + "state_action_evidence": { + "ee_state_6d": [ + 0.30622556805610657, + 0.12629733979701996, + -0.04505203664302826, + -3.1345338821411133, + -0.08291888982057571, + 0.5689659118652344 + ], + "gripper_value": 0.7319586873054504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "gripper closure confirmation", + "subtask_reasoning": "The gripper is in contact with the hardware pile on the white tray, positioned to refine the cluster. Previous sweeping motions have consolidated scattered items into a rough pile. The current subtask involves minor adjustments via contact-based pushing; no grasping is indicated by gripper evidence or image. Next action: gently nudge loose items toward the center of the pile using the gripper’s side or tip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 72 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 10, + "start": 85, + "end": 88 + } + }, + { + "t": 86, + "state_action_evidence": { + "ee_state_6d": [ + 0.30014607310295105, + 0.12408570200204849, + -0.03136681765317917, + -3.111279249191284, + -0.13042816519737244, + 0.5619822144508362 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "gripper closure confirmation", + "subtask_reasoning": "The gripper is positioned over the scattered hardware on the white tray, with segment-level evidence indicating a significant closing motion (delta=0.26886) consistent with grasping. The current frame shows the gripper fingers near the objects, suggesting contact or imminent closure. The next action is to confirm gripper closure to secure the hardware for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 10, + "start": 85, + "end": 88 + } + }, + { + "t": 87, + "state_action_evidence": { + "ee_state_6d": [ + 0.30202025175094604, + 0.11403268575668335, + -0.00383688579313457, + -3.058453321456909, + -0.18777726590633392, + 0.527809202671051 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "gripper closure confirmation", + "subtask_reasoning": "The gripper is positioned over the scattered hardware on the white tray, with segment-level evidence indicating a significant closing motion (delta=0.26886) consistent with grasping. The current frame shows the gripper fingers near the objects, suggesting contact or imminent closure. The next action is to confirm gripper closure to secure the hardware for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 10, + "start": 85, + "end": 88 + } + }, + { + "t": 88, + "state_action_evidence": { + "ee_state_6d": [ + 0.2995203137397766, + 0.08338053524494171, + 0.02454407326877117, + -2.9316203594207764, + -0.23243273794651031, + 0.4608461856842041 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered screws and bolts on the white tray into a single pile using the gripper." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach initial sweep position" + }, + { + "id": 2, + "subtask": "first sweep motion" + }, + { + "id": 3, + "subtask": "reposition for second sweep" + }, + { + "id": 4, + "subtask": "second sweep motion" + }, + { + "id": 5, + "subtask": "adjust and refine pile" + }, + { + "id": 6, + "subtask": "third sweep consolidation" + }, + { + "id": 7, + "subtask": "final positioning before release" + }, + { + "id": 8, + "subtask": "minor pile refinement" + }, + { + "id": 9, + "subtask": "withdraw from pile area" + }, + { + "id": 10, + "subtask": "gripper closure confirmation" + } + ], + "subtask_name": "gripper closure confirmation", + "subtask_reasoning": "The gripper is positioned over the scattered hardware on the white tray, with segment-level evidence indicating a significant closing motion (delta=0.26886) consistent with grasping. The current frame shows the gripper fingers near the objects, suggesting contact or imminent closure. The next action is to confirm gripper closure to secure the hardware for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 88 + }, + "cache_ref": { + "anchor_ref_reasoning": 86 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 10, + "start": 85, + "end": 88 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000960_ecot.json b/cot/chunk-0000/episode_0000960_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1fbedb2e9d84d7019e8066ec33425632db5e8b2e --- /dev/null +++ b/cot/chunk-0000/episode_0000960_ecot.json @@ -0,0 +1,1550 @@ +{ + "task_name": "episode_0000960", + "episode_json": "json/chunk-0000/episode_0000960.json", + "video_path": "videos/chunk-0000/image_0/episode_0000960.mp4", + "instruction": "Move the pan to the left side of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000960.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.9209399819374084, + "std": 0.4077966511249542, + "delta_total": -0.13340532779693604, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92094, std=0.40780, total_delta=-0.13341). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 9, + 109, + 109, + 109, + 120, + 120 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 6 + ], + [ + 3, + 7, + 8 + ], + [ + 4, + 9, + 16 + ], + [ + 5, + 17, + 19 + ], + [ + 6, + 20, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector toward the pan on the stove without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"grasp pan handle\", \"start\": 7, \"end\": 9, \"planning\": \"Close gripper around the pan handle; segment shows meaningful closing and images confirm contact with handle.\"},\n {\"id\": 3, \"name\": \"lift and translate pan left\", \"start\": 10, \"end\": 16, \"planning\": \"Lift the pan slightly and move it leftward across the stove while maintaining grip; gripper remains closed throughout.\"},\n {\"id\": 4, \"name\": \"release pan at target location\", \"start\": 17, \"end\": 19, \"planning\": \"Open gripper to release the pan after positioning it on the left burner; motion stabilizes before release.\"},\n {\"id\": 5, \"name\": \"retreat from pan\", \"start\": 20, \"end\": 21, \"planning\": \"Withdraw end-effector upward and away from the pan after release; gripper opens further during retreat.\"}\n ],\n \"global_plan\": \"Approach the pan, grasp its handle, lift and slide it left to the adjacent burner, release, then retreat.\",\n \"notes\": \"Gripper evidence aligns with image observations: no grasp in segment 1 (frames 0-6), active grasp in segments 3-4 (frames 7-16), release in segment 5 (frames 17-19), and retreat with opening in segment 6 (frames 20-21). Frame ranges are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 6, + "planning": "Move the end-effector toward the pan on the stove without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "grasp pan handle", + "start": 7, + "end": 9, + "planning": "Close gripper around the pan handle; segment shows meaningful closing and images confirm contact with handle." + }, + { + "id": 3, + "name": "lift and translate pan left", + "start": 10, + "end": 16, + "planning": "Lift the pan slightly and move it leftward across the stove while maintaining grip; gripper remains closed throughout." + }, + { + "id": 4, + "name": "release pan at target location", + "start": 17, + "end": 19, + "planning": "Open gripper to release the pan after positioning it on the left burner; motion stabilizes before release." + }, + { + "id": 5, + "name": "retreat from pan", + "start": 20, + "end": 21, + "planning": "Withdraw end-effector upward and away from the pan after release; gripper opens further during retreat." + } + ], + "global_plan": "Approach the pan, grasp its handle, lift and slide it left to the adjacent burner, release, then retreat.", + "notes": "Gripper evidence aligns with image observations: no grasp in segment 1 (frames 0-6), active grasp in segments 3-4 (frames 7-16), release in segment 5 (frames 17-19), and retreat with opening in segment 6 (frames 20-21). Frame ranges are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the pan to the left side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26281946897506714, + 0.1051178127527237, + 0.09454844892024994, + -3.1208462715148926, + -0.14541886746883392, + -0.09542150795459747 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping in the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 18 cm, move down 9 cm, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25997596979141235, + 0.10226389765739441, + 0.08642316609621048, + -3.137903928756714, + -0.11923664808273315, + -0.08946490287780762 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping in the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 18 cm, move down 8 cm, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26436203718185425, + 0.06262491643428802, + 0.07898049056529999, + 3.124236583709717, + -0.10650850087404251, + -0.1762942522764206 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping in the next subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 14 cm, move down 7 cm, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed; then move left 4 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691066861152649, + 0.017856338992714882, + 0.0821080356836319, + 3.1156458854675293, + -0.12172091007232666, + -0.28043097257614136 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 9 cm, move down 8 cm, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then move forward 1 cm, move left 9 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26765841245651245, + -0.03090823069214821, + 0.08243996649980545, + 3.1196401119232178, + -0.1195574700832367, + -0.4605162739753723 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 8 cm, close gripper; then keep gripper closed; then move forward 5 cm, move left 13 cm, move up 9 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26697903871536255, + -0.0670459046959877, + 0.0644524022936821, + 3.1070520877838135, + -0.0714329332113266, + -0.5186269283294678 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 742, + 455, + 994, + 959 + ], + "wooden spoon handle": [ + 173, + 473, + 254, + 593 + ], + "blue spoon": [ + 171, + 393, + 297, + 595 + ], + "orange cloth": [ + 92, + 371, + 375, + 651 + ] + } + } + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 6 cm, close gripper; then keep gripper closed; then move forward 8 cm, move left 15 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27275291085243225, + -0.07291290163993835, + 0.030071543529629707, + 3.1313560009002686, + -0.029610510915517807, + -0.49863430857658386 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper closed; then keep gripper closed; then move forward 10 cm, move left 14 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830652594566345, + -0.07406245917081833, + 0.004540341440588236, + -3.136831760406494, + -0.04148082062602043, + -0.4915483891963959 + ], + "gripper_value": 0.931966245174408 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot is positioned above the stove with the pan visible on the right burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 11 cm, move left 15 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2868664264678955, + -0.0741991326212883, + 0.002959656761959195, + -3.1263856887817383, + -0.06102935969829559, + -0.49747398495674133 + ], + "gripper_value": 0.6530976295471191 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the stove, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves closing the gripper to grasp the handle. The next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move forward 11 cm, move left 15 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842802107334137, + -0.07421969622373581, + 0.004030570853501558, + -3.132765531539917, + -0.07076209783554077, + -0.5135606527328491 + ], + "gripper_value": 0.3437051773071289 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "grasp pan handle", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the stove, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves closing the gripper to grasp the handle. The next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 11 cm, move left 15 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28334373235702515, + -0.07351120561361313, + 0.008961649611592293, + -3.126098394393921, + -0.08512762933969498, + -0.5430979132652283 + ], + "gripper_value": 0.1531343013048172 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "lift and translate pan left", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the stove, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves closing the gripper to grasp the handle. The next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 15 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.280869722366333, + -0.06500796228647232, + 0.024803955107927322, + -3.1120493412017822, + -0.1213761568069458, + -0.5560788512229919 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "lift and translate pan left", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the stove, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves closing the gripper to grasp the handle. The next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 14 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2825019359588623, + -0.034671660512685776, + 0.06802265346050262, + -3.06638765335083, + -0.20673447847366333, + -0.5250943303108215 + ], + "gripper_value": 0.07888144999742508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "lift and translate pan left", + "subtask_reasoning": "The robot arm is positioned near the pan handle on the stove, with the gripper open and aligned for contact. The approach phase is complete, and the current subtask involves closing the gripper to grasp the handle. The next action is to close the gripper to secure the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 11 cm, move down 3 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.297739714384079, + 0.012819929048418999, + 0.09466882050037384, + -3.064624071121216, + -0.23135901987552643, + -0.4807644486427307 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden ball": [ + 561, + 333, + 662, + 456 + ], + "orange cloth": [ + 92, + 372, + 375, + 651 + ] + } + } + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "lift and translate pan left", + "subtask_reasoning": "The robot has successfully grasped the pan handle and lifted the pan off the right burner. The current frame shows the pan suspended in mid-air, indicating the lifting phase is complete. The next immediate action is to translate the pan horizontally to the left to position it over the adjacent burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 6 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324676752090454, + 0.05599243566393852, + 0.0958111435174942, + -3.059406280517578, + -0.21774110198020935, + -0.4967941641807556 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden ball": [ + 546, + 335, + 662, + 457 + ], + "blue spoon": [ + 171, + 394, + 297, + 595 + ], + "wooden spoon handle": [ + 173, + 472, + 254, + 593 + ], + "orange cloth": [ + 92, + 372, + 376, + 651 + ] + } + } + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "lift and translate pan left", + "subtask_reasoning": "The robot has successfully grasped the pan handle and lifted the pan off the right burner. The current frame shows the pan suspended in mid-air, indicating the lifting phase is complete. The next immediate action is to translate the pan horizontally to the left to position it over the adjacent burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 6 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36075207591056824, + 0.07173793017864227, + 0.07619722932577133, + -3.089202642440796, + -0.21963992714881897, + -0.5249087810516357 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "lift and translate pan left", + "subtask_reasoning": "The robot has successfully grasped the pan handle and lifted the pan off the right burner. The current frame shows the pan suspended in mid-air, indicating the lifting phase is complete. The next immediate action is to translate the pan horizontally to the left to position it over the adjacent burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38147592544555664, + 0.0714506283402443, + 0.053011178970336914, + -3.133251428604126, + -0.21278855204582214, + -0.5661869645118713 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "lift and translate pan left", + "subtask_reasoning": "The robot has successfully grasped the pan handle and lifted the pan off the right burner. The current frame shows the pan suspended in mid-air, indicating the lifting phase is complete. The next immediate action is to translate the pan horizontally to the left to position it over the adjacent burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.38942545652389526, + 0.07623416185379028, + 0.034548476338386536, + 3.1229960918426514, + -0.18620255589485168, + -0.5804378986358643 + ], + "gripper_value": 0.07854863256216049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "release pan at target location", + "subtask_reasoning": "The robot has successfully grasped the pan handle and lifted the pan off the right burner. The current frame shows the pan suspended in mid-air, indicating the lifting phase is complete. The next immediate action is to translate the pan horizontally to the left to position it over the adjacent burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3912040591239929, + 0.08214019238948822, + 0.02689203806221485, + 3.120835065841675, + -0.1741812527179718, + -0.5805607438087463 + ], + "gripper_value": 0.11917631328105927 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "release pan at target location", + "subtask_reasoning": "The pan has been moved to the left burner and is now resting on the stove surface. The gripper is open and no longer in contact with the pan handle, indicating the release action is complete. The next step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3808906376361847, + 0.08597326278686523, + 0.022226886823773384, + 3.0930941104888916, + -0.15148256719112396, + -0.5580154657363892 + ], + "gripper_value": 0.288376122713089 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "release pan at target location", + "subtask_reasoning": "The pan has been moved to the left burner and is now resting on the stove surface. The gripper is open and no longer in contact with the pan handle, indicating the release action is complete. The next step is to retreat the arm away from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open; then move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.37351641058921814, + 0.08482414484024048, + 0.05051093548536301, + 3.127655267715454, + -0.19428935647010803, + -0.5267588496208191 + ], + "gripper_value": 0.5689827799797058 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan has been successfully moved to the left burner and released. The robot arm is currently positioned above the stove, having completed the placement. The next action is to retreat the arm away from the stove area to a neutral position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 20, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3574228882789612, + 0.08135156333446503, + 0.07129763811826706, + 3.121506452560425, + -0.2142879068851471, + -0.3910256624221802 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the pan to the left side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "grasp pan handle" + }, + { + "id": 3, + "subtask": "lift and translate pan left" + }, + { + "id": 4, + "subtask": "release pan at target location" + }, + { + "id": 5, + "subtask": "retreat from pan" + } + ], + "subtask_name": "retreat from pan", + "subtask_reasoning": "The pan has been successfully moved to the left burner and released. The robot arm is currently positioned above the stove, having completed the placement. The next action is to retreat the arm away from the stove area to a neutral position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000962_ecot.json b/cot/chunk-0000/episode_0000962_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3b0b2c5158fbd92681863fe0d2719cc9ba8827c8 --- /dev/null +++ b/cot/chunk-0000/episode_0000962_ecot.json @@ -0,0 +1,3277 @@ +{ + "task_name": "episode_0000962", + "episode_json": "json/chunk-0000/episode_0000962.json", + "video_path": "videos/chunk-0000/image_0/episode_0000962.mp4", + "instruction": "Pick up the blue fork and place it on the left of the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000962.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.6718806028366089, + "std": 0.3087972104549408, + "delta_total": 0.003963589668273926, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67188, std=0.30880, total_delta=0.00396). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 120, + 120, + 120, + 320, + 320, + 320, + 320, + 320, + 320, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 220, + 242, + 242, + 242 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 19 + ], + [ + 3, + 20, + 22 + ], + [ + 4, + 23, + 28 + ], + [ + 5, + 29, + 41 + ], + [ + 6, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue fork\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from initial position toward the blue fork on the table without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue fork\", \"start\": 8, \"end\": 19, \"planning\": \"Close gripper around the blue fork and secure it for lifting, as confirmed by segment-level gripper closure and visual alignment.\"},\n {\"id\": 3, \"name\": \"lift and reposition fork\", \"start\": 20, \"end\": 22, \"planning\": \"Lift the grasped blue fork slightly and begin moving it leftward toward the pot’s left side.\"},\n {\"id\": 4, \"name\": \"place fork left of pot\", \"start\": 23, \"end\": 28, \"planning\": \"Lower the fork to the left of the pot and release contact; gripper remains closed but object is no longer held after placement.\"},\n {\"id\": 5, \"name\": \"retreat and open gripper\", \"start\": 29, \"end\": 41, \"planning\": \"Move end-effector away from the placed fork and fully open gripper to prepare for next action or idle state.\"},\n {\"id\": 6, \"name\": \"final gripper reset\", \"start\": 42, \"end\": 44, \"planning\": \"Complete gripper opening sequence to return to fully open state, confirming task completion with no object held.\"}\n ],\n \"global_plan\": \"Approach the blue fork, grasp it securely, lift and move it left of the pot, place it down, then retreat and fully open the gripper to complete the task.\",\n \"notes\": \"Segment 1 (frames 0-7) shows no gripper closure — described as approach only. Segment 3 (20-22) and 6 (42-44) show meaningful gripper changes consistent with grasp and release phases. Segment 4 (23-28) has no gripper change — interpreted as placement phase where object is released mechanically, not via active ungrasping. All frame ranges are contiguous and cover 0 to 44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue fork", + "start": 0, + "end": 7, + "planning": "Move the end-effector from initial position toward the blue fork on the table without closing gripper." + }, + { + "id": 2, + "name": "grasp blue fork", + "start": 8, + "end": 19, + "planning": "Close gripper around the blue fork and secure it for lifting, as confirmed by segment-level gripper closure and visual alignment." + }, + { + "id": 3, + "name": "lift and reposition fork", + "start": 20, + "end": 22, + "planning": "Lift the grasped blue fork slightly and begin moving it leftward toward the pot’s left side." + }, + { + "id": 4, + "name": "place fork left of pot", + "start": 23, + "end": 28, + "planning": "Lower the fork to the left of the pot and release contact; gripper remains closed but object is no longer held after placement." + }, + { + "id": 5, + "name": "retreat and open gripper", + "start": 29, + "end": 41, + "planning": "Move end-effector away from the placed fork and fully open gripper to prepare for next action or idle state." + }, + { + "id": 6, + "name": "final gripper reset", + "start": 42, + "end": 44, + "planning": "Complete gripper opening sequence to return to fully open state, confirming task completion with no object held." + } + ], + "global_plan": "Approach the blue fork, grasp it securely, lift and move it left of the pot, place it down, then retreat and fully open the gripper to complete the task.", + "notes": "Segment 1 (frames 0-7) shows no gripper closure — described as approach only. Segment 3 (20-22) and 6 (42-44) show meaningful gripper changes consistent with grasp and release phases. Segment 4 (23-28) has no gripper change — interpreted as placement phase where object is released mechanically, not via active ungrasping. All frame ranges are contiguous and cover 0 to 44." + } + }, + "episode_goal": "Pick up the blue fork and place it on the left of the pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3396216928958893, + 0.09939756244421005, + 0.0796099454164505, + -3.03432559967041, + -0.28803011775016785, + 0.15697301924228668 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 12 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33609798550605774, + 0.09794974327087402, + 0.06871011853218079, + -3.0379092693328857, + -0.2545815408229828, + 0.1578693985939026 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336583077907562, + 0.084169901907444, + 0.06397618353366852, + -3.0422794818878174, + -0.241899311542511, + 0.13172851502895355 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. No movement or grasping has occurred yet as the gripper remains fully open. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 11 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33365896344184875, + 0.074366994202137, + 0.07078283280134201, + -3.0504159927368164, + -0.2605521082878113, + 0.12563984096050262 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.333495557308197, + 0.06246911734342575, + 0.07667745649814606, + -3.065460443496704, + -0.27075448632240295, + 0.11254482716321945 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 8 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32649898529052734, + 0.04194611310958862, + 0.07772867381572723, + -3.098586082458496, + -0.2609478235244751, + 0.09401426464319229 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 2 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31556129455566406, + 0.0124703673645854, + 0.07275772094726562, + -3.10853910446167, + -0.23574848473072052, + 0.033658429980278015 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, keep gripper open; then move back 2 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088259696960449, + -0.006784952245652676, + 0.07357274740934372, + -3.119807720184326, + -0.22893445193767548, + -0.028610248118638992 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue brush": [ + 472, + 498, + 621, + 823 + ], + "metal": [ + 613, + 248, + 767, + 487 + ], + "yellow sponge": [ + 207, + 490, + 522, + 746 + ], + "wooden countertop": [ + 8, + 186, + 893, + 987 + ], + "metal bowl": [ + 206, + 416, + 492, + 680 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 3 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2961280941963196, + -0.020900925621390343, + 0.07525423914194107, + 3.111130952835083, + -0.20829565823078156, + -0.033582188189029694 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28599119186401367, + -0.02529427409172058, + 0.06804181635379791, + 3.0829954147338867, + -0.1928601861000061, + -0.048312220722436905 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27883145213127136, + -0.032420892268419266, + 0.059651996940374374, + 3.0860350131988525, + -0.18784739077091217, + -0.07148571312427521 + ], + "gripper_value": 0.927960216999054 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 210, + 419, + 467, + 680 + ], + "wooden countertop": [ + 6, + 186, + 893, + 988 + ], + "metal": [ + 612, + 248, + 767, + 486 + ], + "blue brush": [ + 472, + 501, + 597, + 824 + ], + "yellow sponge": [ + 209, + 494, + 521, + 745 + ], + "pink brush": [ + 568, + 530, + 719, + 879 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27669766545295715, + -0.036520302295684814, + 0.056215550750494, + 3.0874366760253906, + -0.18429578840732574, + -0.08065159618854523 + ], + "gripper_value": 0.9231109023094177 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2744467854499817, + -0.039353832602500916, + 0.04700828716158867, + 3.0963025093078613, + -0.16671538352966309, + -0.0868348479270935 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the countertop with the blue fork visible to the right of the pot. The gripper is fully open and no contact has been made yet. The next action should be to move the end-effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27406734228134155, + -0.03938089311122894, + 0.03796820342540741, + 3.0956461429595947, + -0.14499571919441223, + -0.08064032346010208 + ], + "gripper_value": 0.9650423526763916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27261069416999817, + -0.037820227444171906, + 0.030327364802360535, + 3.10380220413208, + -0.13089318573474884, + -0.07249373197555542 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move up 2 cm, keep gripper closed; then move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2723231315612793, + -0.036334097385406494, + 0.027705172076821327, + 3.1128005981445312, + -0.1279122531414032, + -0.0706118494272232 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move up 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27167895436286926, + -0.03560973331332207, + 0.023714549839496613, + 3.116940975189209, + -0.11874402314424515, + -0.06758594512939453 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move up 2 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692387104034424, + -0.03392338380217552, + 0.016555776819586754, + 3.125833511352539, + -0.09126076847314835, + -0.053831785917282104 + ], + "gripper_value": 0.9679883122444153 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed; then move forward 1 cm, move left 7 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727697789669037, + -0.03372972086071968, + 0.01132914423942566, + 3.1307220458984375, + -0.0761725977063179, + -0.05407309532165527 + ], + "gripper_value": 0.8913851380348206 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move up 2 cm, keep gripper closed; then move left 9 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771172821521759, + -0.033747680485248566, + 0.007211457937955856, + 3.137035608291626, + -0.06887875497341156, + -0.0550663024187088 + ], + "gripper_value": 0.7388594746589661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move up 2 cm, keep gripper closed; then move left 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2791346311569214, + -0.0334915891289711, + 0.0069013722240924835, + -3.141207456588745, + -0.07082534581422806, + -0.04525308683514595 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot is positioned above the blue fork with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the segment-level evidence. The next action is to fully close the gripper to secure the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move left 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2792055308818817, + -0.03290974721312523, + 0.006902437191456556, + -3.1401500701904297, + -0.07090657204389572, + -0.04490494728088379 + ], + "gripper_value": 0.33478444814682007 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it slightly above the table surface. The gripper is closed around the fork handle, and the arm is beginning to reposition the fork toward the left of the pot. The next action is to continue moving the fork leftward while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move left 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2801913619041443, + -0.032715145498514175, + 0.011352869682013988, + -3.139043092727661, + -0.08483464270830154, + -0.047183696180582047 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it slightly above the table surface. The gripper is closed around the fork handle, and the arm is beginning to reposition the fork toward the left of the pot. The next action is to continue moving the fork leftward while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper closed; then move left 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816661596298218, + -0.034623466432094574, + 0.028313124552369118, + 3.1310887336730957, + -0.12074965983629227, + -0.05086274445056915 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "place fork left of pot", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it slightly above the table surface. The gripper is closed around the fork handle, and the arm is beginning to reposition the fork toward the left of the pot. The next action is to continue moving the fork leftward while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.282409131526947, + -0.03166459500789642, + 0.04435042664408684, + 3.0990660190582275, + -0.14525726437568665, + -0.02432822249829769 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "place fork left of pot", + "subtask_reasoning": "The robot has successfully grasped the blue fork and is currently lifting it slightly above the table surface. The gripper is closed around the fork handle, and the arm is beginning to reposition the fork toward the left of the pot. The next action is to continue moving the fork leftward while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 11 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888469099998474, + -0.019756175577640533, + 0.05547083914279938, + 3.0796210765838623, + -0.1439475417137146, + -0.005759960971772671 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "place fork left of pot", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.29343149065971375, + 0.006694430951029062, + 0.0626135915517807, + 3.099990129470825, + -0.13009358942508698, + 0.0354817770421505 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue brush": [ + 423, + 446, + 522, + 647 + ], + "metal bowl": [ + 208, + 419, + 466, + 682 + ], + "metal": [ + 611, + 246, + 767, + 487 + ], + "pink brush": [ + 565, + 528, + 719, + 879 + ], + "wooden countertop": [ + 10, + 187, + 893, + 989 + ], + "yellow sponge": [ + 208, + 491, + 518, + 746 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "place fork left of pot", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.28717517852783203, + 0.03194168210029602, + 0.06514236330986023, + 3.1036343574523926, + -0.11047950387001038, + 0.07835280895233154 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal": [ + 610, + 244, + 766, + 487 + ], + "blue brush": [ + 373, + 430, + 468, + 624 + ], + "pink brush": [ + 564, + 528, + 719, + 879 + ], + "yellow sponge": [ + 209, + 486, + 521, + 746 + ], + "wooden countertop": [ + 10, + 182, + 893, + 988 + ], + "metal bowl": [ + 214, + 422, + 470, + 680 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "place fork left of pot", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809593975543976, + 0.05812942609190941, + 0.06919333338737488, + 3.089776039123535, + -0.10033932328224182, + 0.14274482429027557 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "place fork left of pot", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move left 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799755930900574, + 0.07494727522134781, + 0.06873801350593567, + -3.1022117137908936, + -0.1005047857761383, + 0.1229233592748642 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2838329076766968, + 0.09544839709997177, + 0.06617651134729385, + -3.0214133262634277, + -0.10240919142961502, + 0.09189192205667496 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2894967496395111, + 0.11223740130662918, + 0.060609329491853714, + -3.000880241394043, + -0.10729189217090607, + 0.07567550987005234 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29428455233573914, + 0.12408169358968735, + 0.054050344973802567, + -2.9912796020507812, + -0.09785432368516922, + 0.0428692065179348 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.291441410779953, + 0.13972003757953644, + 0.0493905209004879, + -3.0037782192230225, + -0.10978254675865173, + 0.014422972686588764 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2911771535873413, + 0.14472654461860657, + 0.044566430151462555, + -3.0211896896362305, + -0.11666345596313477, + -0.029966572299599648 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The robot is currently holding the blue fork above the wooden surface, positioned between the pot and the red spoon. The gripper has remained static during this segment, indicating the fork is already secured and being maneuvered. The next action is to lower the fork onto the table to the left of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.29173406958580017, + 0.15077710151672363, + 0.04448177292943001, + -3.008869171142578, + -0.13939078152179718, + -0.04412625730037689 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2934643030166626, + 0.14997601509094238, + 0.035405952483415604, + -3.021533489227295, + -0.13610617816448212, + -0.05902538821101189 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2931331992149353, + 0.15135067701339722, + 0.026269983500242233, + -3.0267348289489746, + -0.1255207508802414, + -0.04532220959663391 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.29089298844337463, + 0.15509125590324402, + 0.021864693611860275, + -3.0306174755096436, + -0.11845468729734421, + -0.039429936558008194 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.28979969024658203, + 0.15907219052314758, + 0.021997295320034027, + -3.029379367828369, + -0.12426763027906418, + -0.03519269451498985 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 10, + 207, + 893, + 990 + ], + "blue brush": [ + 146, + 408, + 251, + 567 + ], + "metal": [ + 610, + 248, + 767, + 487 + ], + "metal bowl": [ + 217, + 417, + 494, + 681 + ], + "yellow sponge": [ + 211, + 488, + 523, + 745 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852150499820709, + 0.16011428833007812, + 0.01912195421755314, + -3.0395946502685547, + -0.12039464712142944, + -0.03564193472266197 + ], + "gripper_value": 0.3315716087818146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2818872928619385, + 0.16235323250293732, + 0.017563121393322945, + -3.047499418258667, + -0.12092562019824982, + -0.03314582258462906 + ], + "gripper_value": 0.400628000497818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "retreat and open gripper", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2810647785663605, + 0.16283372044563293, + 0.01749725639820099, + -3.04707407951355, + -0.11707505583763123, + -0.033616743981838226 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "final gripper reset", + "subtask_reasoning": "The blue fork has been successfully placed on the table to the left of the pot. The robot arm is currently hovering above the fork with the gripper partially open. The next action is to fully open the gripper and retreat the arm to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2812950611114502, + 0.16243354976177216, + 0.017740096896886826, + -3.049549102783203, + -0.1165584996342659, + -0.04085129499435425 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "final gripper reset", + "subtask_reasoning": "The blue fork has been successfully placed to the left of the pot, and the gripper is now fully open and stationary above the workspace. The current subtask involves confirming the gripper reset state after task completion. No further action is needed as the task is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2804785370826721, + 0.16141708195209503, + 0.017311736941337585, + -3.05256986618042, + -0.11117030680179596, + -0.04346955567598343 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the blue fork and place it on the left of the pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork left of pot" + }, + { + "id": 5, + "subtask": "retreat and open gripper" + }, + { + "id": 6, + "subtask": "final gripper reset" + } + ], + "subtask_name": "final gripper reset", + "subtask_reasoning": "The blue fork has been successfully placed to the left of the pot, and the gripper is now fully open and stationary above the workspace. The current subtask involves confirming the gripper reset state after task completion. No further action is needed as the task is complete." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000965_ecot.json b/cot/chunk-0000/episode_0000965_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8e4f1f7d47dbaeaa301fb19b5810f907cdcc812c --- /dev/null +++ b/cot/chunk-0000/episode_0000965_ecot.json @@ -0,0 +1,2243 @@ +{ + "task_name": "episode_0000965", + "episode_json": "json/chunk-0000/episode_0000965.json", + "video_path": "videos/chunk-0000/image_0/episode_0000965.mp4", + "instruction": "Moved the green object and put it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000965.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.8874423503875732, + "std": 0.2533983886241913, + "delta_total": 0.004640936851501465, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.88744, std=0.25340, total_delta=0.00464). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 9, + 9, + 9, + 13, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 113, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 12 + ], + [ + 3, + 13, + 13 + ], + [ + 4, + 14, + 26 + ], + [ + 5, + 27, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green object\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the green object on the box while closing gripper to prepare for grasp.\"},\n {\"id\": 2, \"name\": \"grasp and lift green object\", \"start\": 9, \"end\": 13, \"planning\": \"Securely grasp the green object with closed gripper and lift it slightly off the box surface.\"},\n {\"id\": 3, \"name\": \"reposition over table\", \"start\": 14, \"end\": 26, \"planning\": \"Transport the held green object laterally and vertically toward the target placement area on the table.\"},\n {\"id\": 4, \"name\": \"lower and release on table\", \"start\": 27, \"end\": 34, \"planning\": \"Descend to place the green object on the table surface, then open gripper to release contact and retreat.\"}\n ],\n \"global_plan\": \"Approach, grasp, transport, and place the green object from the box onto the adjacent table surface using coordinated arm motion and gripper control.\",\n \"notes\": \"Segment 1 shows gripper closing (0.998→0.810) consistent with pre-grasp; Segment 2 confirms full closure (0.483→0.230) and lift; Segment 4 maintains grip during transit; Segment 5 shows descent and release (gripper opens to 1.002). All phases align with visual evidence and gripper state transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green object", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the green object on the box while closing gripper to prepare for grasp." + }, + { + "id": 2, + "name": "grasp and lift green object", + "start": 9, + "end": 13, + "planning": "Securely grasp the green object with closed gripper and lift it slightly off the box surface." + }, + { + "id": 3, + "name": "reposition over table", + "start": 14, + "end": 26, + "planning": "Transport the held green object laterally and vertically toward the target placement area on the table." + }, + { + "id": 4, + "name": "lower and release on table", + "start": 27, + "end": 34, + "planning": "Descend to place the green object on the table surface, then open gripper to release contact and retreat." + } + ], + "global_plan": "Approach, grasp, transport, and place the green object from the box onto the adjacent table surface using coordinated arm motion and gripper control.", + "notes": "Segment 1 shows gripper closing (0.998→0.810) consistent with pre-grasp; Segment 2 confirms full closure (0.483→0.230) and lift; Segment 4 maintains grip during transit; Segment 5 shows descent and release (gripper opens to 1.002). All phases align with visual evidence and gripper state transitions." + } + }, + "episode_goal": "Pick up the green object from the top of the wooden box and place it on the table surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181808888912201, + 0.1472223550081253, + 0.1883324831724167, + -2.978895664215088, + -0.010724522173404694, + 0.05183149501681328 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is on top of the wooden box, and the robot arm is approaching it from above. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3178543448448181, + 0.14658409357070923, + 0.17614196240901947, + -2.9936296939849854, + 0.02481452375650406, + 0.05183826759457588 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is on top of the wooden box, and the robot arm is approaching it from above. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30949631333351135, + 0.13583147525787354, + 0.15014919638633728, + -3.034620761871338, + 0.06737034767866135, + 0.019382407888770103 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is on top of the wooden box, and the robot arm is approaching it from above. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 2 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3033715486526489, + 0.11470770090818405, + 0.1400008350610733, + -3.0543861389160156, + 0.07929966598749161, + -0.03738803789019585 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The green object is on top of the wooden box, and the robot arm is approaching it from above. No contact or grasp has occurred yet. The next action is to continue moving the end-effector closer to the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29408320784568787, + 0.10655717551708221, + 0.1276358664035797, + -3.043726682662964, + 0.1089404970407486, + -0.06721127033233643 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the wooden box with the green object visible on top. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 2 cm, close gripper; then move right 1 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2863314151763916, + 0.11419343948364258, + 0.11821926385164261, + -3.0020649433135986, + 0.14416947960853577, + -0.06762118637561798 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the wooden box with the green object visible on top. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, close gripper; then move right 1 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, open gripper; then move forward 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.285722553730011, + 0.13300441205501556, + 0.10943158715963364, + -2.9492697715759277, + 0.17915163934230804, + -0.04343724995851517 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the wooden box with the green object visible on top. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move right 1 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28556182980537415, + 0.15046748518943787, + 0.11015397310256958, + -2.939481258392334, + 0.18073999881744385, + 0.00532884243875742 + ], + "gripper_value": 0.9507390260696411 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 4, + 4, + 995, + 994 + ], + "blue block": [ + 413, + 187, + 603, + 341 + ], + "wooden box": [ + 106, + 13, + 712, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the wooden box with the green object visible on top. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move right 1 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, open gripper; then move forward 2 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28254401683807373, + 0.1499221920967102, + 0.10806770622730255, + -2.951458215713501, + 0.185774564743042, + 0.00755385821685195 + ], + "gripper_value": 0.8102405071258545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "approach green object", + "subtask_reasoning": "The robot arm is positioned above the wooden box with the green object visible on top. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 1 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, open gripper; then move forward 3 cm, move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27769944071769714, + 0.14512963593006134, + 0.10620246827602386, + -2.9646353721618652, + 0.18230193853378296, + -0.01471012830734253 + ], + "gripper_value": 0.48323801159858704 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "grasp and lift green object", + "subtask_reasoning": "The robot arm is positioned above the wooden box with the green object visible on top. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, open gripper; then move forward 4 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755717635154724, + 0.13625594973564148, + 0.10417945683002472, + -2.987514019012451, + 0.17838263511657715, + -0.040589772164821625 + ], + "gripper_value": 0.2306915670633316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "grasp and lift green object", + "subtask_reasoning": "The robot arm is positioned above the wooden box with the green object visible on top. No contact has been made yet, and the gripper remains open. The next action should be to lower the arm toward the green object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2691064774990082, + 0.12980207800865173, + 0.10605474561452866, + -3.0154900550842285, + 0.18239645659923553, + -0.0639062374830246 + ], + "gripper_value": 0.11535319685935974 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "grasp and lift green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664676904678345, + 0.12794846296310425, + 0.1269983947277069, + -3.043247699737549, + 0.11559884995222092, + -0.1505713164806366 + ], + "gripper_value": 0.30417895317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "grasp and lift green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2688842713832855, + 0.1369604766368866, + 0.14357823133468628, + -3.028287172317505, + 0.02218955010175705, + -0.30110248923301697 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white table": [ + 4, + 4, + 996, + 993 + ], + "blue block": [ + 408, + 187, + 603, + 342 + ], + "wooden box": [ + 105, + 7, + 715, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "grasp and lift green object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2785451412200928, + 0.1377744823694229, + 0.14924021065235138, + -3.045217990875244, + -0.09913330525159836, + -0.5098768472671509 + ], + "gripper_value": 0.904950737953186 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2883467376232147, + 0.14005975425243378, + 0.14945504069328308, + -3.025862455368042, + -0.19185419380664825, + -0.6304636597633362 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2947595715522766, + 0.1453232765197754, + 0.12139678001403809, + -3.067405939102173, + -0.16178855299949646, + -0.6308756470680237 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3021337389945984, + 0.14985743165016174, + 0.10874935239553452, + -3.0655179023742676, + -0.12383416295051575, + -0.6231079697608948 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3125942051410675, + 0.14701345562934875, + 0.10819464176893234, + -3.0436339378356934, + -0.10593637824058533, + -0.6060726046562195 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 2 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31909695267677307, + 0.1395421028137207, + 0.10817147046327591, + -3.035181760787964, + -0.08762779831886292, + -0.5934423804283142 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot's end-effector is positioned directly above the green object on the wooden box, with the gripper partially open. The approach phase is complete, and the gripper is now closing to secure a grasp on the object. The next immediate action is to fully close the gripper and lift the green object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move down 7 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32104119658470154, + 0.13243724405765533, + 0.10734047740697861, + -3.0239346027374268, + -0.06144140288233757, + -0.6033924221992493 + ], + "gripper_value": 0.684196949005127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 3 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166368901729584, + 0.1304265707731247, + 0.1058509424328804, + -3.022308588027954, + -0.037771016359329224, + -0.6027272939682007 + ], + "gripper_value": 0.5799254179000854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move right 1 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 2 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.31221067905426025, + 0.12590457499027252, + 0.10556288063526154, + -3.026533842086792, + -0.03646505996584892, + -0.5996981263160706 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2988482415676117, + 0.11419869214296341, + 0.11731225997209549, + -3.0493533611297607, + -0.030824946239590645, + -0.5767945647239685 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 7 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830616235733032, + 0.10347462445497513, + 0.14294299483299255, + -3.040867328643799, + -0.07559819519519806, + -0.5467338562011719 + ], + "gripper_value": 0.5600578188896179 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow ball": [ + 181, + 7, + 291, + 119 + ], + "grey tape": [ + 161, + 417, + 326, + 597 + ], + "white table": [ + 4, + 5, + 996, + 993 + ], + "blue block": [ + 405, + 184, + 603, + 342 + ], + "wooden box": [ + 106, + 16, + 708, + 601 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.2563123404979706, + 0.10284732282161713, + 0.15269875526428223, + -3.051846742630005, + -0.08427660167217255, + -0.5028163194656372 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.21820127964019775, + 0.11653096228837967, + 0.14138466119766235, + -3.049335241317749, + -0.05912446603178978, + -0.4146689176559448 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "reposition over table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.1762629896402359, + 0.12526661157608032, + 0.11845015734434128, + -3.0322232246398926, + -0.0033133081160485744, + -0.31730562448501587 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 4 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.1331457644701004, + 0.12475737929344177, + 0.08518830686807632, + -3.024838447570801, + 0.027895526960492134, + -0.14803959429264069 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow ball": [ + 180, + 6, + 332, + 123 + ], + "white table": [ + 5, + 4, + 995, + 994 + ], + "blue block": [ + 406, + 183, + 604, + 342 + ], + "black lever": [ + 553, + 337, + 780, + 600 + ], + "wooden box": [ + 142, + 5, + 703, + 600 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.12795212864875793, + 0.12578365206718445, + 0.052767686545848846, + -3.0160298347473145, + 0.04775606468319893, + -0.015301455743610859 + ], + "gripper_value": 0.5590677857398987 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The robot is currently holding the green object above the wooden box, having successfully completed the grasp and lift phases. The arm is in transit, repositioning the object over the adjacent table surface to prepare for placement. The next action is to continue moving the arm horizontally until it is positioned directly over the target drop zone on the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move up 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.14199574291706085, + 0.1260613203048706, + 0.01994147151708603, + -3.023637056350708, + 0.05569224804639816, + 0.04588159918785095 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The green object is currently held by the gripper and positioned above the table surface, having been transported from the wooden box. The gripper is in the process of lowering the object to make contact with the table. The next action is to release the green object onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 6 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.15978838503360748, + 0.12107577919960022, + 0.005435299128293991, + -3.0376524925231934, + 0.06348010897636414, + 0.015566360205411911 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The green object is currently held by the gripper and positioned above the table surface, having been transported from the wooden box. The gripper is in the process of lowering the object to make contact with the table. The next action is to release the green object onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.16515545547008514, + 0.1147303655743599, + 0.006151657551527023, + -3.0250778198242188, + 0.06634777039289474, + 0.0036802918184548616 + ], + "gripper_value": 0.6219554543495178 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The green object is currently held by the gripper and positioned above the table surface, having been transported from the wooden box. The gripper is in the process of lowering the object to make contact with the table. The next action is to release the green object onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.16891689598560333, + 0.11160282045602798, + 0.04366366192698479, + -2.99373459815979, + 0.03669222816824913, + -0.002679902594536543 + ], + "gripper_value": 0.9157527089118958 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The green object is currently held by the gripper and positioned above the table surface, having been transported from the wooden box. The gripper is in the process of lowering the object to make contact with the table. The next action is to release the green object onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.1693585216999054, + 0.11092996597290039, + 0.08032067120075226, + -2.9847757816314697, + 0.012504429556429386, + -0.006535426713526249 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the green object from the top of the wooden box and place it on the table surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green object" + }, + { + "id": 2, + "subtask": "grasp and lift green object" + }, + { + "id": 3, + "subtask": "reposition over table" + }, + { + "id": 4, + "subtask": "lower and release on table" + } + ], + "subtask_name": "lower and release on table", + "subtask_reasoning": "The green object is currently held by the gripper and positioned above the table surface, having been transported from the wooden box. The gripper is in the process of lowering the object to make contact with the table. The next action is to release the green object onto the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000970_ecot.json b/cot/chunk-0000/episode_0000970_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ce80715cdb40194e3d08d68dc645f703d3f992ef --- /dev/null +++ b/cot/chunk-0000/episode_0000970_ecot.json @@ -0,0 +1,2184 @@ +{ + "task_name": "episode_0000970", + "episode_json": "json/chunk-0000/episode_0000970.json", + "video_path": "videos/chunk-0000/image_0/episode_0000970.mp4", + "instruction": "Take out the object from the silver pot and put it on the orange cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000970.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.8357741832733154, + "std": 0.38250064849853516, + "delta_total": 0.006605982780456543, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.83577, std=0.38250, total_delta=0.00661). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 411, + 411, + 411, + 411, + 411, + 411, + 311, + 311, + 311, + 311, + 311, + 311, + 111, + 111, + 125, + 125, + 225, + 225, + 225 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 10 + ], + [ + 3, + 11, + 16 + ], + [ + 4, + 17, + 22 + ], + [ + 5, + 23, + 24 + ], + [ + 6, + 25, + 26 + ], + [ + 7, + 27, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the silver pot without grasping, as gripper remains fully open.\"},\n {\"id\": 2, \"name\": \"position over object\", \"start\": 4, \"end\": 10, \"planning\": \"Adjust pose to align with object inside pot; no grasp yet based on motion clustering and lack of gripper closure evidence in this segment.\"},\n {\"id\": 3, \"name\": \"grasp object in pot\", \"start\": 11, \"end\": 16, \"planning\": \"Close gripper to securely grasp the object while it is still inside the silver pot, confirmed by significant gripper range and visual alignment.\"},\n {\"id\": 4, \"name\": \"lift and transport to cloth\", \"start\": 17, \"end\": 22, \"planning\": \"Lift object from pot and move it horizontally toward the orange cloth while maintaining grip.\"},\n {\"id\": 5, \"name\": \"release object on cloth\", \"start\": 23, \"end\": 24, \"planning\": \"Open gripper to release the object onto the orange cloth, supported by increasing gripper value indicating opening motion.\"},\n {\"id\": 6, \"name\": \"retreat after placement\", \"start\": 25, \"end\": 29, \"planning\": \"Withdraw end-effector upward and away from the placed object; gripper remains open and no further manipulation occurs.\"}\n ],\n \"global_plan\": \"Approach the silver pot, position over the object, grasp it while inside, lift and carry to the orange cloth, release the object there, then retreat.\",\n \"notes\": \"Subtask boundaries follow observed gripper behavior and motion phases. Grasp is only asserted where segment-level gripper evidence (frames 11-16) and image context agree. Release is inferred from gripper opening trend in frames 23-24. Final retreat uses contact-free motion with open gripper.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the silver pot without grasping, as gripper remains fully open." + }, + { + "id": 2, + "name": "position over object", + "start": 4, + "end": 10, + "planning": "Adjust pose to align with object inside pot; no grasp yet based on motion clustering and lack of gripper closure evidence in this segment." + }, + { + "id": 3, + "name": "grasp object in pot", + "start": 11, + "end": 16, + "planning": "Close gripper to securely grasp the object while it is still inside the silver pot, confirmed by significant gripper range and visual alignment." + }, + { + "id": 4, + "name": "lift and transport to cloth", + "start": 17, + "end": 22, + "planning": "Lift object from pot and move it horizontally toward the orange cloth while maintaining grip." + }, + { + "id": 5, + "name": "release object on cloth", + "start": 23, + "end": 24, + "planning": "Open gripper to release the object onto the orange cloth, supported by increasing gripper value indicating opening motion." + }, + { + "id": 6, + "name": "retreat after placement", + "start": 25, + "end": 29, + "planning": "Withdraw end-effector upward and away from the placed object; gripper remains open and no further manipulation occurs." + } + ], + "global_plan": "Approach the silver pot, position over the object, grasp it while inside, lift and carry to the orange cloth, release the object there, then retreat.", + "notes": "Subtask boundaries follow observed gripper behavior and motion phases. Grasp is only asserted where segment-level gripper evidence (frames 11-16) and image context agree. Release is inferred from gripper opening trend in frames 23-24. Final retreat uses contact-free motion with open gripper." + } + }, + "episode_goal": "Pick up the object from the silver pot and place it on the orange cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405831456184387, + -0.04722342640161514, + 0.013971471227705479, + 3.127375841140747, + -0.15234315395355225, + 0.06106723099946976 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the silver pot on the stovetop, with the orange cloth visible to the right. No actions have been completed yet as this is the initial approach phase. The gripper remains open and no contact has been made. The next action should be to move the end-effector closer to align directly over the object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 1 cm, keep gripper open; then move forward 2 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353056013584137, + -0.04681121185421944, + 0.00044947172864340246, + 3.1370491981506348, + -0.11203423887491226, + 0.05724961683154106 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, near the silver pot and orange cloth. No object has been grasped yet. The next action should involve moving the arm closer to the silver pot to prepare for grasping the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 2 cm, keep gripper open; then move forward 3 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457582890987396, + -0.0386868454515934, + 0.005981405731290579, + 3.1372435092926025, + -0.13685333728790283, + 0.06818258762359619 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, near the silver pot and orange cloth. No object has been grasped yet. The next action should involve moving the arm closer to the silver pot to prepare for grasping the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 2 cm, keep gripper open; then move forward 3 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35605037212371826, + -0.024099405854940414, + 0.011014129035174847, + -3.124544143676758, + -0.14242570102214813, + 0.08712375909090042 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, near the silver pot and orange cloth. No object has been grasped yet. The next action should involve moving the arm closer to the silver pot to prepare for grasping the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper open; then move forward 3 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.36714622378349304, + 0.008537770248949528, + 0.021148791536688805, + -3.098154067993164, + -0.1610945761203766, + 0.12972582876682281 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the stove, near the silver pot and orange cloth. No object has been grasped yet. The next action should involve moving the arm closer to the silver pot to prepare for grasping the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37441930174827576, + 0.03966549038887024, + 0.028353771194815636, + -3.087989330291748, + -0.19125521183013916, + 0.17441214621067047 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 575, + 438, + 862, + 705 + ], + "sink": [ + 733, + 628, + 994, + 992 + ], + "red spatula": [ + 214, + 339, + 405, + 547 + ], + "pot": [ + 433, + 272, + 613, + 466 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the stove, near the silver pot and orange cloth. No object has been grasped yet. The next action should involve moving the arm closer to the silver pot to prepare for grasping the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 5 cm, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3721555471420288, + 0.06378713995218277, + 0.02348218485713005, + -3.0909736156463623, + -0.17986002564430237, + 0.22140417993068695 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the stove, near the silver pot and orange cloth. No object has been grasped yet. The next action should involve moving the arm closer to the silver pot to prepare for grasping the object inside." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3741764724254608, + 0.07775688171386719, + 0.016301074996590614, + -3.102363348007202, + -0.1713055819272995, + 0.24883058667182922 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the target object, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for the next step. The most likely next action is to lower the gripper into the pot to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 3 cm, close gripper; then move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37688982486724854, + 0.08231299370527267, + 0.003984860144555569, + -3.1071200370788574, + -0.14540572464466095, + 0.2481430321931839 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the target object, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for the next step. The most likely next action is to lower the gripper into the pot to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3809604346752167, + 0.08466695249080658, + -0.007620029151439667, + -3.110468626022339, + -0.13077767193317413, + 0.2424750030040741 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the target object, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for the next step. The most likely next action is to lower the gripper into the pot to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move right 5 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3888510465621948, + 0.08889208734035492, + -0.014179209247231483, + -3.1118271350860596, + -0.1331707388162613, + 0.234854057431221 + ], + "gripper_value": 0.7950940132141113 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the target object, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for the next step. The most likely next action is to lower the gripper into the pot to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.39459720253944397, + 0.09135224670171738, + -0.016810117289423943, + -3.1029787063598633, + -0.12251759320497513, + 0.22627466917037964 + ], + "gripper_value": 0.4775448143482208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp object in pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the target object, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for the next step. The most likely next action is to lower the gripper into the pot to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984469473361969, + 0.09319386631250381, + -0.01562565378844738, + -3.0965428352355957, + -0.12276611477136612, + 0.22480159997940063 + ], + "gripper_value": 0.22617807984352112 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp object in pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot containing the target object, with the gripper open and ready. The approach phase is complete, and the arm is now aligned for the next step. The most likely next action is to lower the gripper into the pot to grasp the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 1 cm, move right 10 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39886170625686646, + 0.09291009604930878, + -0.016583042219281197, + -3.0948827266693115, + -0.11368156224489212, + 0.22435112297534943 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp object in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the object inside the silver pot. The gripper has closed significantly during this segment, indicating contact with the object. The next action is to lift the object out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 11 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39903539419174194, + 0.08797036856412888, + -0.016647163778543472, + -3.090505599975586, + -0.10809941589832306, + 0.21601875126361847 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp object in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the object inside the silver pot. The gripper has closed significantly during this segment, indicating contact with the object. The next action is to lift the object out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 11 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3992827832698822, + 0.08308982849121094, + -0.013042116537690163, + -3.0705158710479736, + -0.12537552416324615, + 0.20017892122268677 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp object in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the object inside the silver pot. The gripper has closed significantly during this segment, indicating contact with the object. The next action is to lift the object out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move back 2 cm, move right 11 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.400478720664978, + 0.07744381576776505, + 0.026727039366960526, + -3.0121326446533203, + -0.21402551233768463, + 0.17198742926120758 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp object in pot", + "subtask_reasoning": "The robot's end-effector is positioned directly over the object inside the silver pot. The gripper has closed significantly during this segment, indicating contact with the object. The next action is to lift the object out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed; then move back 2 cm, move right 11 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3898862898349762, + 0.0639607235789299, + 0.04260419309139252, + -2.977891683578491, + -0.2449263483285904, + 0.14611753821372986 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 575, + 438, + 862, + 706 + ], + "sink": [ + 733, + 628, + 994, + 992 + ], + "red spatula": [ + 213, + 339, + 405, + 547 + ], + "pot": [ + 433, + 276, + 611, + 466 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the object inside the silver pot. The gripper has closed significantly during this segment, indicating contact with the object. The next action is to lift the object out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.38394907116889954, + 0.046817928552627563, + 0.055260103195905685, + -2.96590256690979, + -0.27367210388183594, + 0.11839903891086578 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to cloth", + "subtask_reasoning": "The robot's end-effector is positioned directly over the object inside the silver pot. The gripper has closed significantly during this segment, indicating contact with the object. The next action is to lift the object out of the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.38505157828330994, + 0.01565302535891533, + 0.057289592921733856, + -2.9757931232452393, + -0.27759993076324463, + 0.09053010493516922 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to cloth", + "subtask_reasoning": "The robot has lifted the object from the silver pot and is currently transporting it toward the orange cloth. The gripper remains closed with no change in aperture, indicating a stable hold during transit. The next action is to continue moving the object over the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38408398628234863, + -0.01377957034856081, + 0.05113062635064125, + -3.026275396347046, + -0.2526593804359436, + 0.08184675872325897 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to cloth", + "subtask_reasoning": "The robot has lifted the object from the silver pot and is currently transporting it toward the orange cloth. The gripper remains closed with no change in aperture, indicating a stable hold during transit. The next action is to continue moving the object over the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38458773493766785, + -0.03234979137778282, + 0.029403574764728546, + -3.082091808319092, + -0.2090768963098526, + 0.0869554728269577 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to cloth", + "subtask_reasoning": "The robot has lifted the object from the silver pot and is currently transporting it toward the orange cloth. The gripper remains closed with no change in aperture, indicating a stable hold during transit. The next action is to continue moving the object over the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.378959983587265, + -0.0395335890352726, + 0.013028831221163273, + -3.124293327331543, + -0.15074875950813293, + 0.11406932026147842 + ], + "gripper_value": 0.17351533472537994 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport to cloth", + "subtask_reasoning": "The robot has lifted the object from the silver pot and is currently transporting it toward the orange cloth. The gripper remains closed with no change in aperture, indicating a stable hold during transit. The next action is to continue moving the object over the orange cloth for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.37381407618522644, + -0.04334728792309761, + 0.0010538254864513874, + 3.1396403312683105, + -0.11189406365156174, + 0.11327898502349854 + ], + "gripper_value": 0.22045548260211945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release object on cloth", + "subtask_reasoning": "The robot is positioned over the orange cloth with the gripper open, indicating the object has been released. The subtask of placing the object on the cloth is complete, and the next action is to retreat or move away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.37296152114868164, + -0.046406153589487076, + -0.000994262401945889, + 3.1155524253845215, + -0.11365580558776855, + 0.11091911792755127 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "release object on cloth", + "subtask_reasoning": "The robot is positioned over the orange cloth with the gripper open, indicating the object has been released. The subtask of placing the object on the cloth is complete, and the next action is to retreat or move away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3725513815879822, + -0.046354666352272034, + -0.0015983984339982271, + 3.1178090572357178, + -0.11101152002811432, + 0.09695341438055038 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is positioned over the orange cloth with the gripper open, indicating the object has been released. The subtask of placing the object on the cloth is complete, and the next action is to retreat or move away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3704117238521576, + -0.04413872957229614, + 0.005345251876860857, + 3.127868413925171, + -0.11815198510885239, + 0.10391231626272202 + ], + "gripper_value": 0.9583302736282349 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is positioned over the orange cloth with the gripper open, indicating the object has been released. The subtask of placing the object on the cloth is complete, and the next action is to retreat or move away from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3702564537525177, + -0.040231138467788696, + 0.03183731809258461, + -3.1310763359069824, + -0.1717972755432129, + 0.09638511389493942 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 732, + 628, + 994, + 993 + ], + "red spatula": [ + 213, + 339, + 405, + 547 + ], + "orange cloth": [ + 576, + 438, + 862, + 708 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The object has been successfully placed on the orange cloth, and the gripper is open and positioned above it. The robot is now in the retreat phase, moving away from the placement area to complete the subtask. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3671424388885498, + -0.04291977733373642, + 0.05145527422428131, + -3.1192586421966553, + -0.20855812728405, + 0.09833024442195892 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The object has been successfully placed on the orange cloth, and the gripper is open and positioned above it. The robot is now in the retreat phase, moving away from the placement area to complete the subtask. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.363653302192688, + -0.044165171682834625, + 0.05389237031340599, + -3.127791404724121, + -0.20202116668224335, + 0.1092059537768364 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the object from the silver pot and place it on the orange cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "grasp object in pot" + }, + { + "id": 4, + "subtask": "lift and transport to cloth" + }, + { + "id": 5, + "subtask": "release object on cloth" + }, + { + "id": 6, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The object has been successfully placed on the orange cloth, and the gripper is open and positioned above it. The robot is now in the retreat phase, moving away from the placement area to complete the subtask. The next action is to continue retracting the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000971_ecot.json b/cot/chunk-0000/episode_0000971_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a656eea36104214988e821626a293cde07415a --- /dev/null +++ b/cot/chunk-0000/episode_0000971_ecot.json @@ -0,0 +1,4002 @@ +{ + "task_name": "episode_0000971", + "episode_json": "json/chunk-0000/episode_0000971.json", + "video_path": "videos/chunk-0000/image_0/episode_0000971.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 53, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000971.json" + }, + "fps": 5.0, + "T_eff": 53, + "gripper_behavior_summary": { + "available": true, + "range": 0.6470702886581421, + "std": 0.2623807489871979, + "delta_total": -0.2714940905570984, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.64707, std=0.26238, total_delta=-0.27149). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 112, + 112, + 112, + 112, + 112, + 112, + 112, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 312, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 412, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 212, + 12, + 12, + 12, + 52 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 18 + ], + [ + 3, + 19, + 29 + ], + [ + 4, + 30, + 38 + ], + [ + 5, + 39, + 48 + ], + [ + 6, + 49, + 51 + ], + [ + 7, + 52, + 52 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"Approach and close gripper\", \"start\": 0, \"end\": 11, \"planning\": \"Move end-effector toward the bean pile while closing the gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"Initial sweep contact\", \"start\": 12, \"end\": 18, \"planning\": \"Make initial contact with beans and begin sweeping motion toward the target pile area.\"},\n {\"id\": 3, \"name\": \"Sweep beans into pile\", \"start\": 19, \"end\": 29, \"planning\": \"Drag and push scattered beans using the gripper to consolidate them into a central pile.\"},\n {\"id\": 4, \"name\": \"Reposition for final sweep\", \"start\": 30, \"end\": 38, \"planning\": \"Lift and reposition the gripper to align for a final sweeping pass over remaining stray beans.\"},\n {\"id\": 5, \"name\": \"Final sweep pass\", \"start\": 39, \"end\": 48, \"planning\": \"Execute final sweeping motion to gather leftover beans into the main pile.\"},\n {\"id\": 6, \"name\": \"Retreat and open gripper\", \"start\": 49, \"end\": 51, \"planning\": \"Withdraw the gripper from the pile and begin opening to release any residual contact.\"},\n {\"id\": 7, \"name\": \"Final retreat\", \"start\": 52, \"end\": 52, \"planning\": \"Complete retreat to safe position above the table after finishing the sweep task.\"}\n ],\n \"global_plan\": \"Sweep scattered black beans into a consolidated pile using sequential contact-based motions: approach, initial sweep, consolidation, repositioning, final sweep, and retreat.\",\n \"notes\": \"Gripper closes only in Segment 1; all other segments use contact-based verbs (sweep, drag, push) as no meaningful closing occurs. Frame coverage is contiguous and complete from 0 to 52.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "Approach and close gripper", + "start": 0, + "end": 11, + "planning": "Move end-effector toward the bean pile while closing the gripper to prepare for contact." + }, + { + "id": 2, + "name": "Initial sweep contact", + "start": 12, + "end": 18, + "planning": "Make initial contact with beans and begin sweeping motion toward the target pile area." + }, + { + "id": 3, + "name": "Sweep beans into pile", + "start": 19, + "end": 29, + "planning": "Drag and push scattered beans using the gripper to consolidate them into a central pile." + }, + { + "id": 4, + "name": "Reposition for final sweep", + "start": 30, + "end": 38, + "planning": "Lift and reposition the gripper to align for a final sweeping pass over remaining stray beans." + }, + { + "id": 5, + "name": "Final sweep pass", + "start": 39, + "end": 48, + "planning": "Execute final sweeping motion to gather leftover beans into the main pile." + }, + { + "id": 6, + "name": "Retreat and open gripper", + "start": 49, + "end": 51, + "planning": "Withdraw the gripper from the pile and begin opening to release any residual contact." + }, + { + "id": 7, + "name": "Final retreat", + "start": 52, + "end": 52, + "planning": "Complete retreat to safe position above the table after finishing the sweep task." + } + ], + "global_plan": "Sweep scattered black beans into a consolidated pile using sequential contact-based motions: approach, initial sweep, consolidation, repositioning, final sweep, and retreat.", + "notes": "Gripper closes only in Segment 1; all other segments use contact-based verbs (sweep, drag, push) as no meaningful closing occurs. Frame coverage is contiguous and complete from 0 to 52." + } + }, + "episode_goal": "Sweep the scattered black beans into a compact pile on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2965155839920044, + 0.2365712672472, + 0.03789293020963669, + -3.0642809867858887, + 0.009828047826886177, + 0.17608194053173065 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action is to lower the arm and close the gripper to prepare for the initial sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2925659418106079, + 0.23276259005069733, + 0.023518694564700127, + -3.084702253341675, + 0.04079941287636757, + 0.17726992070674896 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action is to lower the arm and close the gripper to prepare for the initial sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28733721375465393, + 0.2248757779598236, + 0.008009457029402256, + -3.0975613594055176, + 0.021660802885890007, + 0.1687331646680832 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black beans": [ + 381, + 339, + 800, + 667 + ], + "yellow can": [ + 613, + 119, + 740, + 313 + ], + "red can": [ + 513, + 34, + 635, + 276 + ], + "wooden table": [ + 4, + 146, + 995, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action is to lower the arm and close the gripper to prepare for the initial sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.29281413555145264, + 0.227389395236969, + 0.014789124019443989, + -3.071321487426758, + -0.038832053542137146, + 0.16446325182914734 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action is to lower the arm and close the gripper to prepare for the initial sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.29704973101615906, + 0.22349300980567932, + 0.011485499329864979, + -3.0419039726257324, + -0.049627888947725296, + 0.14772945642471313 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action is to lower the arm and close the gripper to prepare for the initial sweep motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2997150421142578, + 0.22403544187545776, + 0.01391877606511116, + -3.0318143367767334, + -0.04849913343787193, + 0.1583644300699234 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.306047260761261, + 0.22819586098194122, + 0.021552694961428642, + -3.0227103233337402, + -0.0634956806898117, + 0.16311563551425934 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move forward 1 cm, move left 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3057979643344879, + 0.230091392993927, + 0.015979968011379242, + -3.0227112770080566, + -0.03886208310723305, + 0.16560186445713043 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 1 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30952244997024536, + 0.2337844967842102, + 0.017966993153095245, + -3.015507459640503, + -0.041125524789094925, + 0.16779397428035736 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move forward 2 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069474697113037, + 0.23368242383003235, + 0.009525022469460964, + -3.0176947116851807, + -0.015387972816824913, + 0.16542397439479828 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3059394061565399, + 0.23321644961833954, + 0.005413739942014217, + -3.021130084991455, + -0.004952819552272558, + 0.1630871295928955 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30582234263420105, + 0.23385359346866608, + 0.0051558236591517925, + -3.021090030670166, + -0.003846575040370226, + 0.15548384189605713 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Approach and close gripper", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064580261707306, + 0.2333565205335617, + 0.004813529085367918, + -3.025627613067627, + -0.005182022228837013, + 0.15131260454654694 + ], + "gripper_value": 0.37717074155807495 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Initial sweep contact", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 9 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3061387538909912, + 0.23294323682785034, + 0.004770454950630665, + -3.027919054031372, + -0.0029173835646361113, + 0.15249933302402496 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Initial sweep contact", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 12 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30766841769218445, + 0.2329384684562683, + 0.004666924476623535, + -3.043468713760376, + 0.008257749490439892, + 0.14590543508529663 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Initial sweep contact", + "subtask_reasoning": "The robot arm is positioned above the table near the scattered black beans, with the gripper currently open. No sweeping or contact has occurred yet. The next action should involve lowering the arm and closing the gripper to prepare for initial contact with the beans." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move right 15 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105531930923462, + 0.24706895649433136, + 0.013716630637645721, + -3.06145977973938, + -0.011789035983383656, + 0.16718478500843048 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Initial sweep contact", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 17 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31341707706451416, + 0.2593570649623871, + 0.02519627846777439, + -3.067322015762329, + -0.04071532189846039, + 0.1762372851371765 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white object": [ + 169, + 2, + 554, + 246 + ], + "black beans": [ + 381, + 338, + 800, + 667 + ], + "yellow can": [ + 613, + 119, + 739, + 313 + ], + "wooden table": [ + 4, + 143, + 995, + 993 + ], + "red can": [ + 513, + 34, + 635, + 276 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Initial sweep contact", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 19 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3209848999977112, + 0.24995958805084229, + 0.025216680020093918, + -3.0642127990722656, + -0.03799612820148468, + 0.12569014728069305 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Initial sweep contact", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 20 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3264392614364624, + 0.21356230974197388, + 0.007822456769645214, + -3.0554776191711426, + 0.013054557144641876, + 0.04720474034547806 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Initial sweep contact", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper closed; then move back 2 cm, move right 20 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33016565442085266, + 0.17991001904010773, + 0.00397740863263607, + -3.0268919467926025, + 0.024066055193543434, + 0.006843086332082748 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 20 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3307564854621887, + 0.15003922581672668, + 0.0013492305297404528, + -3.0165622234344482, + 0.02508842758834362, + -0.006871641147881746 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 15 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.32881462574005127, + 0.1217200979590416, + -0.0007365141063928604, + -3.0172152519226074, + 0.03647993877530098, + 0.0077175055630505085 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32876110076904297, + 0.0912502184510231, + -0.001556209521368146, + -3.030092477798462, + 0.05669888108968735, + 0.010023253038525581 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move left 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32733315229415894, + 0.05635774880647659, + -0.0019492019200697541, + -3.041300058364868, + 0.08651022613048553, + -0.0015758927911520004 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 145, + 995, + 991 + ], + "black beans": [ + 411, + 339, + 800, + 667 + ], + "red can a yellow can": [ + 613, + 118, + 740, + 313 + ], + "red can yellow": [ + 513, + 34, + 634, + 276 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot's end-effector is positioned near the scattered black beans on the table, with the gripper closed. The initial sweep contact phase is underway, as the robot begins to move the beans into a pile. The next action involves continuing the sweeping motion to consolidate the beans further." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 3 cm, keep gripper closed; then move forward 4 cm, move left 7 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3260589838027954, + 0.03212296962738037, + -0.0018071659142151475, + -3.042440891265869, + 0.0872960314154625, + -0.019778719171881676 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 3 cm, keep gripper closed; then move forward 5 cm, move left 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3213755190372467, + 0.008937194012105465, + -0.001955377170816064, + -3.046884059906006, + 0.1030973270535469, + -0.04156636446714401 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 7 cm, move left 8 cm, move down 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31622350215911865, + -0.012172727845609188, + -0.0015684600220993161, + -3.062960147857666, + 0.1192745789885521, + -0.05752392113208771 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 147, + 995, + 991 + ], + "black beans": [ + 487, + 423, + 800, + 670 + ], + "yellow can": [ + 615, + 116, + 744, + 314 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 8 cm, move left 8 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31446707248687744, + -0.02148422785103321, + -0.000751547166146338, + -3.0706965923309326, + 0.1324804723262787, + -0.06220541149377823 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 3 cm, keep gripper closed; then move forward 9 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31457966566085815, + -0.023703211918473244, + 0.0018110775854438543, + -3.0699260234832764, + 0.142429918050766, + -0.05429628863930702 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 3 cm, keep gripper closed; then move forward 9 cm, move left 5 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3162449896335602, + -0.020195791497826576, + 0.004874368663877249, + -3.076129198074341, + 0.1499376744031906, + -0.05446305498480797 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Sweep beans into pile", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, keep gripper closed; then move forward 7 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32285377383232117, + 0.0013331030495464802, + 0.02864624559879303, + -3.084960699081421, + 0.10429155081510544, + -0.01002546213567257 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.33041712641716003, + 0.027095377445220947, + 0.043508898466825485, + -3.0961074829101562, + 0.07390157878398895, + 0.00705960625782609 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34576329588890076, + 0.052030857652425766, + 0.05254864692687988, + -3.0851800441741943, + 0.02520628646016121, + 0.01620810106396675 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 5 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 5 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.36172857880592346, + 0.0694383755326271, + 0.03992447257041931, + -3.066290855407715, + 0.017884476110339165, + 0.002209603553637862 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.37725305557250977, + 0.0777553841471672, + 0.03282422944903374, + -3.030179500579834, + 0.003019949421286583, + -0.022968657314777374 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move down 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 6 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907705843448639, + 0.08586191385984421, + 0.014955592341721058, + -2.9911820888519287, + 0.019933398813009262, + -0.036454297602176666 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 4 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4027419984340668, + 0.08488775044679642, + 0.008154771290719509, + -2.952991008758545, + 0.02491738647222519, + -0.06244074925780296 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.41174012422561646, + 0.0714762881398201, + 0.005996189545840025, + -2.9461801052093506, + 0.0202499870210886, + -0.11072458326816559 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 5 cm, move left 2 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.4085354506969452, + 0.05103015527129173, + 0.003962214570492506, + -2.9359092712402344, + 0.017853423953056335, + -0.18041257560253143 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Reposition for final sweep", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move left 6 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.39494091272354126, + 0.018095405772328377, + 0.004569320008158684, + -2.9404420852661133, + 0.01725984551012516, + -0.27400264143943787 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.375842809677124, + -0.011065596714615822, + 0.0052137235179543495, + -2.9471428394317627, + 0.01767265610396862, + -0.34786587953567505 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white object": [ + 168, + 2, + 553, + 246 + ], + "black beans": [ + 516, + 437, + 800, + 713 + ], + "wooden table": [ + 6, + 148, + 995, + 993 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.3647476136684418, + -0.02159256488084793, + 0.010599804110825062, + -2.9396955966949463, + 0.004071946721524, + -0.38329431414604187 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.35556453466415405, + -0.03521576151251793, + 0.012296213768422604, + -2.9358999729156494, + 0.0030460511334240437, + -0.42969271540641785 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in contact with the black beans on the table, having completed the approach and initial sweep. The gripper remains open and stable, indicating a pushing motion rather than grasping. The next action is to continue sweeping the scattered beans toward the center to consolidate the pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 13 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.34998103976249695, + -0.04293994605541229, + 0.010458631440997124, + -2.9388701915740967, + 0.015267516486346722, + -0.4557656943798065 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in the final sweep pass, with the gripper maintaining a constant open position (no grasp evidence) while the end-effector moves laterally across the black bean pile. The beans are already partially consolidated, and the current motion is pushing remaining scattered beans into the main pile. The next action should continue this sweeping motion to fully compact the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 13 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.3503750264644623, + -0.045123666524887085, + 0.02691379189491272, + -2.946122646331787, + -0.012246761471033096, + -0.44757309556007385 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in the final sweep pass, with the gripper maintaining a constant open position (no grasp evidence) while the end-effector moves laterally across the black bean pile. The beans are already partially consolidated, and the current motion is pushing remaining scattered beans into the main pile. The next action should continue this sweeping motion to fully compact the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 14 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3555769622325897, + -0.026182977482676506, + 0.04881817847490311, + -2.9643468856811523, + -0.05224357172846794, + -0.3867640197277069 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in the final sweep pass, with the gripper maintaining a constant open position (no grasp evidence) while the end-effector moves laterally across the black bean pile. The beans are already partially consolidated, and the current motion is pushing remaining scattered beans into the main pile. The next action should continue this sweeping motion to fully compact the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.3558453619480133, + 0.006576701533049345, + 0.06586278229951859, + -2.9637982845306396, + -0.08841385692358017, + -0.28591302037239075 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in the final sweep pass, with the gripper maintaining a constant open position (no grasp evidence) while the end-effector moves laterally across the black bean pile. The beans are already partially consolidated, and the current motion is pushing remaining scattered beans into the main pile. The next action should continue this sweeping motion to fully compact the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.3423116207122803, + 0.03709356486797333, + 0.05675026774406433, + -2.9775471687316895, + -0.05432549864053726, + -0.1803954690694809 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in the final sweep pass, with the gripper maintaining a constant open position (no grasp evidence) while the end-effector moves laterally across the black bean pile. The beans are already partially consolidated, and the current motion is pushing remaining scattered beans into the main pile. The next action should continue this sweeping motion to fully compact the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.32667675614356995, + 0.07339920103549957, + 0.03697511926293373, + -2.994915723800659, + -0.016565077006816864, + -0.05717705190181732 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow can": [ + 613, + 118, + 742, + 313 + ], + "wooden table": [ + 4, + 146, + 994, + 992 + ], + "red can": [ + 518, + 33, + 636, + 274 + ], + "black beans": [ + 518, + 412, + 799, + 710 + ] + } + } + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final sweep pass", + "subtask_reasoning": "The robot is in the final sweep pass, with the gripper maintaining a constant open position (no grasp evidence) while the end-effector moves laterally across the black bean pile. The beans are already partially consolidated, and the current motion is pushing remaining scattered beans into the main pile. The next action should continue this sweeping motion to fully compact the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 2 cm, keep gripper closed; then move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 48 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 39, + "end": 48 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.3201810419559479, + 0.09045760333538055, + 0.014132020995020866, + -3.002589702606201, + 0.0368831492960453, + 0.0003632464213296771 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Retreat and open gripper", + "subtask_reasoning": "The robot is in the final sweep pass, with the gripper maintaining a constant open position (no grasp evidence) while the end-effector moves laterally across the black bean pile. The beans are already partially consolidated, and the current motion is pushing remaining scattered beans into the main pile. The next action should continue this sweeping motion to fully compact the pile before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 51 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.3221902847290039, + 0.10855581611394882, + 0.0025695122312754393, + -3.0045955181121826, + 0.051711052656173706, + 0.052755843847990036 + ], + "gripper_value": 0.3544071912765503 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Retreat and open gripper", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile and is now retreating from the table surface. The gripper is open, indicating release of any held objects, and the end-effector is moving away from the bean pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 49, + "end": 51 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.3238292932510376, + 0.11124308407306671, + 0.002557615051046014, + -3.0116827487945557, + 0.05495208129286766, + 0.05670351907610893 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Retreat and open gripper", + "subtask_reasoning": "The robot has completed sweeping the black beans into a pile and is now retreating from the table surface. The gripper is open, indicating release of any held objects, and the end-effector is moving away from the bean pile to conclude the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 51 + }, + "cache_ref": { + "anchor_ref_reasoning": 50 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 49, + "end": 51 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.31709372997283936, + 0.11709240823984146, + 0.00763596361503005, + -3.033543586730957, + 0.060082174837589264, + 0.035842251032590866 + ], + "gripper_value": 0.729983389377594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Sweep the scattered black beans into a compact pile on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "Approach and close gripper" + }, + { + "id": 2, + "subtask": "Initial sweep contact" + }, + { + "id": 3, + "subtask": "Sweep beans into pile" + }, + { + "id": 4, + "subtask": "Reposition for final sweep" + }, + { + "id": 5, + "subtask": "Final sweep pass" + }, + { + "id": 6, + "subtask": "Retreat and open gripper" + }, + { + "id": 7, + "subtask": "Final retreat" + } + ], + "subtask_name": "Final retreat", + "subtask_reasoning": "The black beans are consolidated into a pile on the table, and the robot arm is positioned nearby with the gripper open. The final retreat subtask involves moving the arm away from the pile to complete the sweeping action. The next action is to retract the arm to a safe distance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 52, + "end": 52 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000972_ecot.json b/cot/chunk-0000/episode_0000972_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..47371370a50f7de3293c9c666e78f4a9707bc8b4 --- /dev/null +++ b/cot/chunk-0000/episode_0000972_ecot.json @@ -0,0 +1,1981 @@ +{ + "task_name": "episode_0000972", + "episode_json": "json/chunk-0000/episode_0000972.json", + "video_path": "videos/chunk-0000/image_0/episode_0000972.mp4", + "instruction": "Move the bowl closer to the bottom right of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000972.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9298030734062195, + "std": 0.42223310470581055, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.92980, std=0.42223, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 10, + 10, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 124, + 124, + 124, + 124, + 124, + 124 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 14 + ], + [ + 3, + 15, + 23 + ], + [ + 4, + 24, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on bowl\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the bowl and begin closing gripper to establish contact.\"},\n {\"id\": 2, \"name\": \"secure grasp and lift bowl\", \"start\": 10, \"end\": 14, \"planning\": \"Complete gripper closure to firmly grasp the bowl and lift it slightly off the surface.\"},\n {\"id\": 3, \"name\": \"transport bowl toward target zone\", \"start\": 15, \"end\": 23, \"planning\": \"Carry the grasped bowl across the table toward the bottom-right region while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release bowl and retreat\", \"start\": 24, \"end\": 29, \"planning\": \"Open gripper to release the bowl at the target location and move end-effector away.\"}\n ],\n \"global_plan\": \"Grasp the metal bowl, lift it, carry it to the bottom-right area of the table, then release it and retreat.\",\n \"notes\": \"Plan follows observed motion segments and gripper behavior: closing in segment 1, full grasp and lift in segment 2, transport in segment 3, and release/retreat in segment 4. All frame ranges are contiguous and cover 0–29.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on bowl", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the bowl and begin closing gripper to establish contact." + }, + { + "id": 2, + "name": "secure grasp and lift bowl", + "start": 10, + "end": 14, + "planning": "Complete gripper closure to firmly grasp the bowl and lift it slightly off the surface." + }, + { + "id": 3, + "name": "transport bowl toward target zone", + "start": 15, + "end": 23, + "planning": "Carry the grasped bowl across the table toward the bottom-right region while maintaining grip." + }, + { + "id": 4, + "name": "release bowl and retreat", + "start": 24, + "end": 29, + "planning": "Open gripper to release the bowl at the target location and move end-effector away." + } + ], + "global_plan": "Grasp the metal bowl, lift it, carry it to the bottom-right area of the table, then release it and retreat.", + "notes": "Plan follows observed motion segments and gripper behavior: closing in segment 1, full grasp and lift in segment 2, transport in segment 3, and release/retreat in segment 4. All frame ranges are contiguous and cover 0–29." + } + }, + "episode_goal": "Move the bowl closer to the bottom right of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2527914345264435, + 0.09011667966842651, + 0.06699308007955551, + -3.0082437992095947, + -0.021552780643105507, + -0.11673194915056229 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the metal bowl. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25083425641059875, + 0.08936559408903122, + 0.05976021662354469, + -3.0199155807495117, + 0.0025617480278015137, + -0.10815492272377014 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the metal bowl. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 17 cm, move right 2 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25740277767181396, + 0.08711446076631546, + 0.05630403384566307, + -3.021862030029297, + 0.009220472536981106, + -0.10441051423549652 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the metal bowl. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2826206088066101, + 0.08031771332025528, + 0.06577905267477036, + -3.0354175567626953, + -0.040300074964761734, + -0.10830486565828323 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table with the gripper open, approaching the metal bowl. No contact or grasp has occurred yet. The next action should be to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.32502084970474243, + 0.06867470592260361, + 0.09131665527820587, + -3.0449984073638916, + -0.12838733196258545, + -0.12191851437091827 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36666056513786316, + 0.06561484187841415, + 0.10968582332134247, + -3.0770556926727295, + -0.18956172466278076, + -0.07962147146463394 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper toy": [ + 122, + 354, + 258, + 514 + ], + "green fork toy": [ + 200, + 409, + 348, + 591 + ], + "wooden countertop": [ + 5, + 132, + 939, + 967 + ], + "metal bowl": [ + 300, + 123, + 522, + 350 + ], + "tomato sauce": [ + 637, + 40, + 783, + 299 + ], + "orange cloth": [ + 308, + 212, + 551, + 381 + ], + "toy stove": [ + 677, + 175, + 997, + 994 + ], + "corn": [ + 768, + 130, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 9 cm, tilt forward 10 degrees, close gripper; then move back 7 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.39598026871681213, + 0.0667220950126648, + 0.09288834780454636, + -3.098135232925415, + -0.15396837890148163, + -0.04480960965156555 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 7 cm, tilt forward 10 degrees, close gripper; then move back 7 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.41448649764060974, + 0.07074563950300217, + 0.06633251160383224, + -3.1058781147003174, + -0.08268339186906815, + -0.00955214910209179 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed; then move back 7 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 7 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.420310378074646, + 0.07265553623437881, + 0.031845878809690475, + -3.113548517227173, + -0.0036181393079459667, + 0.009463532827794552 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 7 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 8 cm, move right 9 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4204634428024292, + 0.07058510929346085, + 0.021804386749863625, + -3.1333701610565186, + 0.012140973471105099, + 0.006838802248239517 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 7 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 8 cm, move right 10 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4212372601032257, + 0.06890217959880829, + 0.02459682896733284, + -3.1408159732818604, + 0.012578047811985016, + -0.00722640473395586 + ], + "gripper_value": 0.3644362688064575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp and lift bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 10 cm, move right 10 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41997310519218445, + 0.06823532283306122, + 0.030056416988372803, + -3.1410820484161377, + -0.0030251117423176765, + -0.006136682815849781 + ], + "gripper_value": 0.1920294612646103 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp and lift bowl", + "subtask_reasoning": "The robot arm is positioned above the table near the metal bowl, with the gripper fully open. No contact or grasp has occurred yet. The next action is to lower the gripper and close it around the bowl to initiate the move." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 11 cm, move right 10 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.415340781211853, + 0.07231351733207703, + 0.04345797374844551, + 3.1206889152526855, + -0.033935077488422394, + -0.010609014891088009 + ], + "gripper_value": 0.09587175399065018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp and lift bowl", + "subtask_reasoning": "The gripper has closed around the metal bowl, as indicated by the decreasing gripper value and segment-level evidence. The next step is to lift the bowl slightly to confirm a secure grasp before moving it toward the bottom-right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 12 cm, move right 10 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41005435585975647, + 0.07396561652421951, + 0.06486953794956207, + 3.106302261352539, + -0.08679623901844025, + -0.043177150189876556 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp and lift bowl", + "subtask_reasoning": "The gripper has closed around the metal bowl, as indicated by the decreasing gripper value and segment-level evidence. The next step is to lift the bowl slightly to confirm a secure grasp before moving it toward the bottom-right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 5 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 12 cm, move right 9 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3907877504825592, + 0.06592613458633423, + 0.11044958978891373, + -3.1197173595428467, + -0.20159125328063965, + -0.13670457899570465 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp and lift bowl", + "subtask_reasoning": "The gripper has closed around the metal bowl, as indicated by the decreasing gripper value and segment-level evidence. The next step is to lift the bowl slightly to confirm a secure grasp before moving it toward the bottom-right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 12 cm, move right 9 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35053586959838867, + 0.027654174715280533, + 0.11700545251369476, + -3.09381103515625, + -0.20920667052268982, + -0.2879747450351715 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The gripper has closed around the metal bowl, as indicated by the decreasing gripper value and segment-level evidence. The next step is to lift the bowl slightly to confirm a secure grasp before moving it toward the bottom-right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 9 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3113362789154053, + -0.017845744267106056, + 0.1004013866186142, + -3.073464870452881, + -0.17476330697536469, + -0.479981929063797 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The gripper has closed around the metal bowl, as indicated by the decreasing gripper value and segment-level evidence. The next step is to lift the bowl slightly to confirm a secure grasp before moving it toward the bottom-right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 4 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28500890731811523, + -0.04334380105137825, + 0.07588130235671997, + -3.0464060306549072, + -0.10894958674907684, + -0.607082188129425 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The gripper has closed around the metal bowl, as indicated by the decreasing gripper value and segment-level evidence. The next step is to lift the bowl slightly to confirm a secure grasp before moving it toward the bottom-right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 5 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27505630254745483, + -0.06183381751179695, + 0.06314144283533096, + -3.0195631980895996, + -0.08806373924016953, + -0.6809926629066467 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper toy": [ + 122, + 355, + 257, + 514 + ], + "orange cloth": [ + 307, + 179, + 550, + 358 + ], + "wooden countertop": [ + 5, + 137, + 934, + 966 + ], + "green fork toy": [ + 201, + 409, + 348, + 591 + ], + "toy stove": [ + 677, + 176, + 996, + 994 + ], + "corn": [ + 768, + 130, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The gripper has closed around the metal bowl, as indicated by the decreasing gripper value and segment-level evidence. The next step is to lift the bowl slightly to confirm a secure grasp before moving it toward the bottom-right area of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 4 cm, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 8 cm, move up 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.26651203632354736, + -0.06833537667989731, + 0.046843890100717545, + -3.0018343925476074, + -0.046585991978645325, + -0.7176189422607422 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The robot is currently holding the metal bowl above the table, having completed the lift phase. The gripper is closed and stable, indicating a secure grasp. The next action is to translate the bowl toward the bottom-right target zone while maintaining height and orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, open gripper; then move forward 2 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2519201934337616, + -0.07029032707214355, + 0.036365773528814316, + -3.0007264614105225, + -0.010892038233578205, + -0.7435460686683655 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The robot is currently holding the metal bowl above the table, having completed the lift phase. The gripper is closed and stable, indicating a secure grasp. The next action is to translate the bowl toward the bottom-right target zone while maintaining height and orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 1 cm, open gripper; then move forward 2 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2363365888595581, + -0.0705830529332161, + 0.025842923671007156, + -2.995177984237671, + 0.025508711114525795, + -0.7626950740814209 + ], + "gripper_value": 0.07755524665117264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The robot is currently holding the metal bowl above the table, having completed the lift phase. The gripper is closed and stable, indicating a secure grasp. The next action is to translate the bowl toward the bottom-right target zone while maintaining height and orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 2 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23292431235313416, + -0.06876988708972931, + 0.022893311455845833, + -2.9949567317962646, + 0.03222495689988136, + -0.7671037316322327 + ], + "gripper_value": 0.10753463208675385 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The robot is currently holding the metal bowl above the table, having completed the lift phase. The gripper is closed and stable, indicating a secure grasp. The next action is to translate the bowl toward the bottom-right target zone while maintaining height and orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move forward 2 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23115144670009613, + -0.06334768235683441, + 0.022841408848762512, + -3.0020434856414795, + 0.049171216785907745, + -0.7351692318916321 + ], + "gripper_value": 0.2876356244087219 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "transport bowl toward target zone", + "subtask_reasoning": "The robot is currently holding the metal bowl above the table, having completed the lift phase. The gripper is closed and stable, indicating a secure grasp. The next action is to translate the bowl toward the bottom-right target zone while maintaining height and orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 2 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2347242385149002, + -0.062279291450977325, + 0.026533057913184166, + -3.0142569541931152, + 0.042357780039310455, + -0.7200012803077698 + ], + "gripper_value": 0.5779332518577576 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The robot is currently holding the metal bowl above the table, having completed the lift phase. The gripper is closed and stable, indicating a secure grasp. The next action is to translate the bowl toward the bottom-right target zone while maintaining height and orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.23551790416240692, + -0.06071305274963379, + 0.04520087689161301, + -3.030933380126953, + -0.005965775344520807, + -0.7052598595619202 + ], + "gripper_value": 0.8792814016342163 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The robot is currently holding the metal bowl above the table, having completed the lift phase. The gripper is closed and stable, indicating a secure grasp. The next action is to translate the bowl toward the bottom-right target zone while maintaining height and orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 10 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2392636239528656, + -0.04749787971377373, + 0.09427003562450409, + -3.051313638687134, + -0.15316501259803772, + -0.6337547302246094 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is resting on the table in the target bottom-right area, and the gripper is fully open (value ~1.0), indicating the release action is complete. The robot arm is positioned directly above the bowl, ready to retreat. The next step is to move the end-effector away from the bowl to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24142886698246002, + -0.015467408113181591, + 0.1280113160610199, + -3.084750175476074, + -0.23844636976718903, + -0.49475425481796265 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper toy": [ + 122, + 355, + 258, + 514 + ], + "metal bowl": [ + 364, + 427, + 666, + 772 + ], + "wooden countertop": [ + 5, + 140, + 941, + 964 + ], + "tomato sauce": [ + 638, + 40, + 784, + 301 + ], + "green fork toy": [ + 200, + 409, + 347, + 591 + ], + "corn": [ + 767, + 129, + 919, + 341 + ], + "toy stove": [ + 674, + 175, + 996, + 994 + ], + "orange cloth": [ + 305, + 198, + 413, + 353 + ] + } + } + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is resting on the table in the target bottom-right area, and the gripper is fully open (value ~1.0), indicating the release action is complete. The robot arm is positioned directly above the bowl, ready to retreat. The next step is to move the end-effector away from the bowl to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.244989275932312, + 0.021673111245036125, + 0.12448042631149292, + -3.094974994659424, + -0.2148575484752655, + -0.35021668672561646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is resting on the table in the target bottom-right area, and the gripper is fully open (value ~1.0), indicating the release action is complete. The robot arm is positioned directly above the bowl, ready to retreat. The next step is to move the end-effector away from the bowl to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2506440281867981, + 0.03912891820073128, + 0.0979360044002533, + -3.1089539527893066, + -0.13125059008598328, + -0.32658177614212036 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the bowl closer to the bottom right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp and lift bowl" + }, + { + "id": 3, + "subtask": "transport bowl toward target zone" + }, + { + "id": 4, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The metal bowl is resting on the table in the target bottom-right area, and the gripper is fully open (value ~1.0), indicating the release action is complete. The robot arm is positioned directly above the bowl, ready to retreat. The next step is to move the end-effector away from the bowl to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000974_ecot.json b/cot/chunk-0000/episode_0000974_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..095042fbe1ce6a942cb2498c7fec8a06ab612975 --- /dev/null +++ b/cot/chunk-0000/episode_0000974_ecot.json @@ -0,0 +1,1903 @@ +{ + "task_name": "episode_0000974", + "episode_json": "json/chunk-0000/episode_0000974.json", + "video_path": "videos/chunk-0000/image_0/episode_0000974.mp4", + "instruction": "Put pear in bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000974.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.2610243558883667, + "std": 0.12468491494655609, + "delta_total": -0.2610243558883667, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.26102, std=0.12468, total_delta=-0.26102). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 200, + 200, + 0, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 9 + ], + [ + 2, + 10, + 18 + ], + [ + 3, + 19, + 19 + ], + [ + 4, + 20, + 21 + ], + [ + 5, + 22, + 22 + ], + [ + 6, + 23, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pear\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the pear on the counter without closing gripper.\"},\n {\"id\": 2, \"name\": \"make contact with pear\", \"start\": 10, \"end\": 18, \"planning\": \"Position gripper around pear and initiate contact; no meaningful closing observed so avoid grasp wording.\"},\n {\"id\": 3, \"name\": \"reposition pear near bowl\", \"start\": 19, \"end\": 19, \"planning\": \"Adjust pear’s position slightly while maintaining contact, preparing for placement near bowl.\"},\n {\"id\": 4, \"name\": \"slide pear toward bowl\", \"start\": 20, \"end\": 21, \"planning\": \"Drag or slide pear across surface toward blue bowl without lifting or releasing contact.\"},\n {\"id\": 5, \"name\": \"nudge pear into bowl\", \"start\": 22, \"end\": 22, \"planning\": \"Apply gentle push to guide pear into bowl opening using end-effector contact.\"},\n {\"id\": 6, \"name\": \"retreat from bowl\", \"start\": 23, \"end\": 24, \"planning\": \"Withdraw end-effector away from bowl after successful nudging, maintaining open gripper state.\"}\n ],\n \"global_plan\": \"Guide pear from initial position on counter into blue bowl via sequential contact-based maneuvers: approach, contact, reposition, slide, nudge, and retreat — avoiding any assumption of grasping due to lack of meaningful gripper closure evidence.\",\n \"notes\": \"No segment shows meaningful gripper closing (all deltas = 0.00000), so all actions are described as contact-based (approach, contact, slide, nudge, retreat). No lifting or placing is inferred since object remains supported by surface throughout. Frame coverage is complete and contiguous from 0 to 24.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pear", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the pear on the counter without closing gripper." + }, + { + "id": 2, + "name": "make contact with pear", + "start": 10, + "end": 18, + "planning": "Position gripper around pear and initiate contact; no meaningful closing observed so avoid grasp wording." + }, + { + "id": 3, + "name": "reposition pear near bowl", + "start": 19, + "end": 19, + "planning": "Adjust pear’s position slightly while maintaining contact, preparing for placement near bowl." + }, + { + "id": 4, + "name": "slide pear toward bowl", + "start": 20, + "end": 21, + "planning": "Drag or slide pear across surface toward blue bowl without lifting or releasing contact." + }, + { + "id": 5, + "name": "nudge pear into bowl", + "start": 22, + "end": 22, + "planning": "Apply gentle push to guide pear into bowl opening using end-effector contact." + }, + { + "id": 6, + "name": "retreat from bowl", + "start": 23, + "end": 24, + "planning": "Withdraw end-effector away from bowl after successful nudging, maintaining open gripper state." + } + ], + "global_plan": "Guide pear from initial position on counter into blue bowl via sequential contact-based maneuvers: approach, contact, reposition, slide, nudge, and retreat — avoiding any assumption of grasping due to lack of meaningful gripper closure evidence.", + "notes": "No segment shows meaningful gripper closing (all deltas = 0.00000), so all actions are described as contact-based (approach, contact, slide, nudge, retreat). No lifting or placing is inferred since object remains supported by surface throughout. Frame coverage is complete and contiguous from 0 to 24." + } + }, + "episode_goal": "Grasp the green pear on the countertop and place it into the blue bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24936403334140778, + 0.1617613583803177, + 0.0856122225522995, + -2.932692527770996, + -0.20941929519176483, + 0.028111932799220085 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the green pear located near the sink. No contact has been made yet, and the gripper remains open. The next action should continue moving the end-effector closer to the pear to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move right 20 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.25358492136001587, + 0.14943501353263855, + 0.07472170144319534, + -3.0000693798065186, + -0.17823036015033722, + 0.14042578637599945 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the green pear located near the sink. No contact has been made yet, and the gripper remains open. The next action should continue moving the end-effector closer to the pear to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 19 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754950523376465, + 0.12223654985427856, + 0.08284718543291092, + -3.046334743499756, + -0.17752380669116974, + 0.31718558073043823 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the green pear located near the sink. No contact has been made yet, and the gripper remains open. The next action should continue moving the end-effector closer to the pear to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 16 cm, move down 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024945855140686, + 0.0787011981010437, + 0.09643778204917908, + -3.070136308670044, + -0.2142929583787918, + 0.4972682595252991 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow pepper": [ + 244, + 285, + 359, + 409 + ], + "white bottle": [ + 575, + 116, + 688, + 343 + ], + "blue bowl": [ + 669, + 554, + 855, + 764 + ], + "red bottle": [ + 761, + 70, + 867, + 337 + ], + "jar": [ + 207, + 394, + 387, + 580 + ], + "red pepper": [ + 418, + 608, + 625, + 754 + ], + "sink": [ + 86, + 246, + 635, + 703 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the green pear located near the sink. No contact has been made yet, and the gripper remains open. The next action should continue moving the end-effector closer to the pear to initiate contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 12 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3293814957141876, + 0.0358164981007576, + 0.09995750337839127, + -3.109011650085449, + -0.2670463025569916, + 0.577276885509491 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 7 cm, move down 6 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.35190877318382263, + 0.008722048252820969, + 0.09829864650964737, + -3.11785626411438, + -0.32210418581962585, + 0.5832691788673401 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 5 cm, move down 5 cm, keep gripper open; then move forward 2 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3678523004055023, + -0.007461367174983025, + 0.09247977286577225, + -3.111211061477661, + -0.354513555765152, + 0.5772484540939331 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move down 5 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3817242681980133, + -0.02419305592775345, + 0.08392120897769928, + -3.1164114475250244, + -0.3658629357814789, + 0.5741852521896362 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.38999584317207336, + -0.03210071101784706, + 0.07149150967597961, + -3.125941038131714, + -0.3813747763633728, + 0.5769633054733276 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bottle": [ + 761, + 71, + 867, + 338 + ], + "yellow pepper": [ + 244, + 285, + 360, + 410 + ], + "blue bowl": [ + 669, + 555, + 855, + 760 + ], + "faucet": [ + 402, + 7, + 568, + 291 + ], + "red pepper": [ + 418, + 608, + 626, + 754 + ], + "sink": [ + 89, + 244, + 634, + 703 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.39992034435272217, + -0.033281777054071426, + 0.0558425709605217, + -3.1353394985198975, + -0.41071346402168274, + 0.5627243518829346 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.40665125846862793, + -0.03687161207199097, + 0.044151339679956436, + 3.1269476413726807, + -0.4067647159099579, + 0.5633239150047302 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.41249552369117737, + -0.040194202214479446, + 0.03904971852898598, + 3.1065871715545654, + -0.4082302749156952, + 0.5648985505104065 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, close gripper; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41714954376220703, + -0.04287676140666008, + 0.04061579704284668, + 3.0872249603271484, + -0.4226917624473572, + 0.5581754446029663 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, tilt forward 10 degrees, close gripper; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.42216020822525024, + -0.042299915105104446, + 0.03057846985757351, + 3.067131280899048, + -0.4363954961299896, + 0.5442581176757812 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot arm is positioned above the countertop, approaching the red pear near the blue bowl. No contact or grasping has occurred yet, as gripper remains fully open. The next action should be to lower the end-effector toward the pear to initiate contact for repositioning." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42432957887649536, + -0.03624962642788887, + 0.019147321581840515, + 3.0595343112945557, + -0.445139616727829, + 0.539740800857544 + ], + "gripper_value": 0.9900195002555847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot has approached the red pepper on the countertop, positioning the end-effector directly above it. Although the gripper value is high, the segment-level evidence indicates a closing motion is occurring or has just occurred to establish contact. The next immediate action is to finalize this contact or slight grasp to prepare for repositioning the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.42873895168304443, + -0.033813249319791794, + 0.006894796155393124, + 3.0292348861694336, + -0.43921682238578796, + 0.5510498881340027 + ], + "gripper_value": 0.8149353265762329 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot has approached the red pepper on the countertop, positioning the end-effector directly above it. Although the gripper value is high, the segment-level evidence indicates a closing motion is occurring or has just occurred to establish contact. The next immediate action is to finalize this contact or slight grasp to prepare for repositioning the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.43157970905303955, + -0.02760476991534233, + 0.00801993627101183, + 3.014482021331787, + -0.4431469142436981, + 0.5625441670417786 + ], + "gripper_value": 0.729983389377594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot has approached the red pepper on the countertop, positioning the end-effector directly above it. Although the gripper value is high, the segment-level evidence indicates a closing motion is occurring or has just occurred to establish contact. The next immediate action is to finalize this contact or slight grasp to prepare for repositioning the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.42750421166419983, + -0.028924398124217987, + 0.007524373475462198, + 3.06254243850708, + -0.437255322933197, + 0.5339464545249939 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot has approached the red pepper on the countertop, positioning the end-effector directly above it. Although the gripper value is high, the segment-level evidence indicates a closing motion is occurring or has just occurred to establish contact. The next immediate action is to finalize this contact or slight grasp to prepare for repositioning the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41685232520103455, + -0.03200257197022438, + 0.01025425549596548, + 3.1181881427764893, + -0.4035488963127136, + 0.5326102375984192 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with pear", + "subtask_reasoning": "The robot has approached the red pepper on the countertop, positioning the end-effector directly above it. Although the gripper value is high, the segment-level evidence indicates a closing motion is occurring or has just occurred to establish contact. The next immediate action is to finalize this contact or slight grasp to prepare for repositioning the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, keep gripper closed; then move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39602604508399963, + -0.0397222675383091, + 0.036506619304418564, + -3.1307828426361084, + -0.33347088098526, + 0.5844434499740601 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition pear near bowl", + "subtask_reasoning": "The robot is in contact with the green pear on the countertop, positioned near the blue bowl. The gripper remains open with no closure evidence, indicating a pushing or nudging action rather than grasping. The next step is to slide or nudge the pear closer to or into the bowl using end-effector contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move up 3 cm, keep gripper closed; then move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3653739094734192, + -0.05799201503396034, + 0.062127191573381424, + 3.139918565750122, + -0.2512188255786896, + 0.6638398766517639 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "slide pear toward bowl", + "subtask_reasoning": "The robot end-effector is in contact with the red pear on the countertop, positioned to push it toward the blue bowl. Previous steps have successfully approached and made contact with the pear. Since no gripper closure is evident, the next action should continue sliding or nudging the pear closer to the bowl using contact-based motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3373880088329315, + -0.0825427919626236, + 0.0750420019030571, + 3.137969970703125, + -0.22015471756458282, + 0.7151286005973816 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "slide pear toward bowl", + "subtask_reasoning": "The robot end-effector is in contact with the red pear on the countertop, positioned to push it toward the blue bowl. Previous steps have successfully approached and made contact with the pear. Since no gripper closure is evident, the next action should continue sliding or nudging the pear closer to the bowl using contact-based motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32133808732032776, + -0.10101091116666794, + 0.06603031605482101, + -3.1404757499694824, + -0.20959195494651794, + 0.7539799809455872 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "nudge pear into bowl", + "subtask_reasoning": "The green pear is currently positioned on the countertop near the blue bowl, with the end-effector in contact or very close proximity. Previous steps have successfully approached and made contact with the pear. Since there is no gripper closure evidence, the next action should involve nudging or sliding the pear toward the bowl using contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 22, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31471753120422363, + -0.11752720922231674, + 0.05677291378378868, + 3.1003570556640625, + -0.21990655362606049, + 0.7809463143348694 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bottle": [ + 576, + 117, + 689, + 344 + ], + "blue bowl": [ + 669, + 554, + 855, + 763 + ], + "yellow pepper": [ + 243, + 288, + 359, + 412 + ], + "lettuce pieces": [ + 4, + 176, + 172, + 359 + ], + "faucet": [ + 402, + 8, + 569, + 291 + ], + "sink": [ + 83, + 245, + 631, + 715 + ], + "red pepper": [ + 421, + 608, + 624, + 759 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "retreat from bowl", + "subtask_reasoning": "The green pear is already inside the blue bowl, indicating the placement task is complete. The gripper is open and positioned near the bowl with no closing evidence, confirming the robot has released the object. The next action is to retreat the arm away from the bowl area to finalize the sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.31128373742103577, + -0.12490147352218628, + 0.0509038046002388, + 3.069582462310791, + -0.224380761384964, + 0.7850357294082642 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the green pear on the countertop and place it into the blue bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pear" + }, + { + "id": 2, + "subtask": "make contact with pear" + }, + { + "id": 3, + "subtask": "reposition pear near bowl" + }, + { + "id": 4, + "subtask": "slide pear toward bowl" + }, + { + "id": 5, + "subtask": "nudge pear into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "retreat from bowl", + "subtask_reasoning": "The green pear is already inside the blue bowl, indicating the placement task is complete. The gripper is open and positioned near the bowl with no closing evidence, confirming the robot has released the object. The next action is to retreat the arm away from the bowl area to finalize the sequence." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 23, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000975_ecot.json b/cot/chunk-0000/episode_0000975_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..308b42804816ae68b3cc5ae1651dc04fc62ba4ef --- /dev/null +++ b/cot/chunk-0000/episode_0000975_ecot.json @@ -0,0 +1,2059 @@ +{ + "task_name": "episode_0000975", + "episode_json": "json/chunk-0000/episode_0000975.json", + "video_path": "videos/chunk-0000/image_0/episode_0000975.mp4", + "instruction": "Put the potato into the bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000975.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.1466178297996521, + "std": 0.06105370447039604, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.14662, std=0.06105, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 16 + ], + [ + 3, + 17, + 17 + ], + [ + 4, + 18, + 23 + ], + [ + 5, + 24, + 24 + ], + [ + 6, + 25, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach potato\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector from initial position toward the potato on the counter without closing gripper.\"},\n {\"id\": 2, \"name\": \"reposition for grasp\", \"start\": 8, \"end\": 16, \"planning\": \"Adjust end-effector pose and proximity to align with potato for potential grasp, maintaining open gripper.\"},\n {\"id\": 3, \"name\": \"make contact with potato\", \"start\": 17, \"end\": 17, \"planning\": \"Briefly touch or nudge the potato to stabilize or confirm position before grasping.\"},\n {\"id\": 4, \"name\": \"grasp and lift potato\", \"start\": 18, \"end\": 23, \"planning\": \"Close gripper to securely grasp the potato, then lift and transport it over the bowl.\"},\n {\"id\": 5, \"name\": \"release potato into bowl\", \"start\": 24, \"end\": 24, \"planning\": \"Open gripper to drop the potato into the bowl while positioned directly above it.\"},\n {\"id\": 6, \"name\": \"retreat from bowl\", \"start\": 25, \"end\": 26, \"planning\": \"Move end-effector away from the bowl after releasing the potato, completing the task.\"}\n ],\n \"global_plan\": \"Approach the potato, reposition for grasp, make brief contact, then grasp and lift it, release into the bowl, and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing only in segment 4 (frames 18-23), allowing 'grasp' wording there. Segment 3 (frame 17) shows no closing — described as contact/nudge. Segment 6 (25-26) shows no closing — described as retreat. All other segments use motion-based verbs consistent with gripper state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach potato", + "start": 0, + "end": 7, + "planning": "Move the end-effector from initial position toward the potato on the counter without closing gripper." + }, + { + "id": 2, + "name": "reposition for grasp", + "start": 8, + "end": 16, + "planning": "Adjust end-effector pose and proximity to align with potato for potential grasp, maintaining open gripper." + }, + { + "id": 3, + "name": "make contact with potato", + "start": 17, + "end": 17, + "planning": "Briefly touch or nudge the potato to stabilize or confirm position before grasping." + }, + { + "id": 4, + "name": "grasp and lift potato", + "start": 18, + "end": 23, + "planning": "Close gripper to securely grasp the potato, then lift and transport it over the bowl." + }, + { + "id": 5, + "name": "release potato into bowl", + "start": 24, + "end": 24, + "planning": "Open gripper to drop the potato into the bowl while positioned directly above it." + }, + { + "id": 6, + "name": "retreat from bowl", + "start": 25, + "end": 26, + "planning": "Move end-effector away from the bowl after releasing the potato, completing the task." + } + ], + "global_plan": "Approach the potato, reposition for grasp, make brief contact, then grasp and lift it, release into the bowl, and retreat.", + "notes": "Gripper evidence confirms meaningful closing only in segment 4 (frames 18-23), allowing 'grasp' wording there. Segment 3 (frame 17) shows no closing — described as contact/nudge. Segment 6 (25-26) shows no closing — described as retreat. All other segments use motion-based verbs consistent with gripper state." + } + }, + "episode_goal": "Place the potato into the metal bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.331906259059906, + 0.017764946445822716, + 0.09852006286382675, + 2.9975216388702393, + -0.094879649579525, + -0.004455360118299723 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the counter with the potato visible to the left and the metal bowl in the center. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is beginning to move toward the potato. The next action is to continue approaching the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 16 cm, move down 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3276088237762451, + 0.0172148197889328, + 0.08728905767202377, + 2.9929118156433105, + -0.057999398559331894, + -0.011670393869280815 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the counter with the potato visible to the left and the metal bowl in the center. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is beginning to move toward the potato. The next action is to continue approaching the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 16 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31087228655815125, + 0.0430484339594841, + 0.09393981844186783, + 3.011528253555298, + -0.08665896207094193, + 0.021898016333580017 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is positioned above the counter with the potato visible to the left and the metal bowl in the center. No actions have been completed yet as this is the start of the episode. The gripper is open and the arm is beginning to move toward the potato. The next action is to continue approaching the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 13 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841748297214508, + 0.08686991035938263, + 0.10591599345207214, + 3.0802836418151855, + -0.1325279176235199, + 0.15221959352493286 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 436, + 212, + 682, + 479 + ], + "spoon": [ + 642, + 340, + 792, + 592 + ], + "table": [ + 7, + 166, + 937, + 966 + ], + "tomato sauce": [ + 639, + 41, + 782, + 298 + ], + "toy microwave": [ + 384, + 2, + 672, + 225 + ], + "egg": [ + 70, + 411, + 191, + 547 + ], + "sticky notes": [ + 202, + 225, + 449, + 435 + ], + "toy stove": [ + 675, + 176, + 996, + 994 + ], + "corn": [ + 768, + 129, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2645381987094879, + 0.11800241470336914, + 0.10457099229097366, + 3.120216131210327, + -0.13331100344657898, + 0.2747957110404968 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24707774817943573, + 0.14682568609714508, + 0.09502475708723068, + 3.136397123336792, + -0.14344671368598938, + 0.4744745194911957 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 3 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23466937243938446, + 0.16255585849285126, + 0.07465863972902298, + 3.1215267181396484, + -0.11984729766845703, + 0.7067646980285645 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.22958967089653015, + 0.1682044267654419, + 0.05967693775892258, + 3.141479253768921, + -0.10981021076440811, + 0.8765714168548584 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "approach potato", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22462284564971924, + 0.17424722015857697, + 0.04973483085632324, + -3.102783441543579, + -0.11845135688781738, + 0.9699187874794006 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.22340109944343567, + 0.17931945621967316, + 0.04815041273832321, + -3.076071262359619, + -0.16921791434288025, + 1.0372498035430908 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23090560734272003, + 0.17765773832798004, + 0.040910325944423676, + -3.07049822807312, + -0.20591236650943756, + 1.0981882810592651 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.23806270956993103, + 0.1816519796848297, + 0.03275866433978081, + -3.072720527648926, + -0.19854533672332764, + 1.1384563446044922 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot is approaching the potato on the countertop, with the metal bowl nearby. No contact or grasp has occurred yet, as the gripper remains open and no closing evidence is present in this segment. The next action is to continue moving the end-effector closer to the potato to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, close gripper; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 9 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24537788331508636, + 0.18552547693252563, + 0.02297547087073326, + -3.0600357055664062, + -0.1783282309770584, + 1.1560097932815552 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the potato and is now repositioning its gripper above it, with the gripper open and aligned for grasping. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24849486351013184, + 0.18411773443222046, + 0.018907736986875534, + -3.0502960681915283, + -0.17489184439182281, + 1.1416397094726562 + ], + "gripper_value": 0.9537920951843262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the potato and is now repositioning its gripper above it, with the gripper open and aligned for grasping. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 7 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2508033514022827, + 0.18167540431022644, + 0.01843245141208172, + -3.0632004737854004, + -0.16345076262950897, + 1.1001968383789062 + ], + "gripper_value": 0.8669703602790833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the potato and is now repositioning its gripper above it, with the gripper open and aligned for grasping. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 7 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25272032618522644, + 0.17134730517864227, + 0.018357185646891594, + -3.055934429168701, + -0.13910086452960968, + 0.9728156328201294 + ], + "gripper_value": 0.8669703602790833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the potato and is now repositioning its gripper above it, with the gripper open and aligned for grasping. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 7 cm, tilt right 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 7 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25660237669944763, + 0.149841770529747, + 0.04428162798285484, + -3.090803384780884, + -0.1306612193584442, + 0.7405142188072205 + ], + "gripper_value": 0.8669703602790833 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "reposition for grasp", + "subtask_reasoning": "The robot has approached the potato and is now repositioning its gripper above it, with the gripper open and aligned for grasping. The next action is to close the gripper to grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 7 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678828239440918, + 0.1211729571223259, + 0.09074503928422928, + 3.0863466262817383, + -0.1488884538412094, + 0.4955596327781677 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 436, + 211, + 682, + 480 + ], + "toy microwave": [ + 274, + 2, + 673, + 226 + ], + "sticky notes": [ + 280, + 210, + 450, + 435 + ], + "spoon": [ + 641, + 339, + 792, + 592 + ], + "table": [ + 8, + 134, + 938, + 964 + ], + "tomato sauce": [ + 640, + 41, + 783, + 297 + ], + "corn": [ + 768, + 129, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "make contact with potato", + "subtask_reasoning": "The robot has approached and repositioned near the potato on the table. The gripper is open and in contact with the potato, but no grasping motion has occurred yet. The next action should involve closing the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 7 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.29638147354125977, + 0.08741812407970428, + 0.12354487925767899, + 3.0791616439819336, + -0.18267109990119934, + 0.2559860050678253 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 436, + 211, + 682, + 479 + ], + "toy microwave": [ + 317, + 3, + 673, + 227 + ], + "spoon": [ + 641, + 339, + 792, + 592 + ], + "sticky notes": [ + 202, + 237, + 449, + 435 + ], + "tomato sauce": [ + 640, + 41, + 782, + 298 + ], + "table": [ + 7, + 159, + 938, + 965 + ], + "toy stove": [ + 675, + 176, + 996, + 994 + ], + "corn": [ + 768, + 130, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached and repositioned near the potato on the table. The gripper is open and in contact with the potato, but no grasping motion has occurred yet. The next action should involve closing the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 7 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33744198083877563, + 0.05849291384220123, + 0.12094391137361526, + 3.090019941329956, + -0.19129601120948792, + 0.10577920824289322 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has approached and repositioned near the potato on the table. The gripper is open and in contact with the potato, but no grasping motion has occurred yet. The next action should involve closing the gripper to securely grasp the potato." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 4 cm, move down 3 cm, open gripper; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36937621235847473, + 0.039741553366184235, + 0.09943823516368866, + 3.0991806983947754, + -0.16870936751365662, + 0.07857149094343185 + ], + "gripper_value": 0.8616333603858948 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has successfully grasped the potato and lifted it above the metal bowl. The gripper is closed around the potato, indicating the grasp and lift phase is complete. The next action is to release the potato into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 1 cm, open gripper; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38607099652290344, + 0.034413013607263565, + 0.08974150568246841, + 3.1022605895996094, + -0.17228683829307556, + 0.0731532871723175 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has successfully grasped the potato and lifted it above the metal bowl. The gripper is closed around the potato, indicating the grasp and lift phase is complete. The next action is to release the potato into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.393208384513855, + 0.021965814754366875, + 0.08106162399053574, + 3.1199512481689453, + -0.16023869812488556, + 0.043466199189424515 + ], + "gripper_value": 0.9222983717918396 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has successfully grasped the potato and lifted it above the metal bowl. The gripper is closed around the potato, indicating the grasp and lift phase is complete. The next action is to release the potato into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.39684784412384033, + 0.01989368535578251, + 0.08338644355535507, + 3.1408803462982178, + -0.16107240319252014, + 0.046718861907720566 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "grasp and lift potato", + "subtask_reasoning": "The robot has successfully grasped the potato and lifted it above the metal bowl. The gripper is closed around the potato, indicating the grasp and lift phase is complete. The next action is to release the potato into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39775148034095764, + 0.020799491554498672, + 0.08866097778081894, + -3.137420892715454, + -0.15493394434452057, + 0.05001619830727577 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "release potato into bowl", + "subtask_reasoning": "The potato is currently positioned directly above the metal bowl, with the gripper open and no closing evidence in this segment. The next action is to lower the end-effector to release the potato into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.39308103919029236, + 0.01813889667391777, + 0.0927942544221878, + 3.1301732063293457, + -0.11658839136362076, + 0.05260878801345825 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "retreat from bowl", + "subtask_reasoning": "The potato is already inside the metal bowl, and the gripper is open and positioned above it. The robot has completed placing the potato and is now retreating from the bowl area. The next action is to move the arm further away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 25, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38114994764328003, + 0.02924390882253647, + 0.12626798450946808, + 3.0789129734039307, + -0.13673508167266846, + 0.046869754791259766 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the potato into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach potato" + }, + { + "id": 2, + "subtask": "reposition for grasp" + }, + { + "id": 3, + "subtask": "make contact with potato" + }, + { + "id": 4, + "subtask": "grasp and lift potato" + }, + { + "id": 5, + "subtask": "release potato into bowl" + }, + { + "id": 6, + "subtask": "retreat from bowl" + } + ], + "subtask_name": "retreat from bowl", + "subtask_reasoning": "The potato is already inside the metal bowl, and the gripper is open and positioned above it. The robot has completed placing the potato and is now retreating from the bowl area. The next action is to move the arm further away to complete the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 25, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000976_ecot.json b/cot/chunk-0000/episode_0000976_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..76b234466abf35a772d493cacb90d5898f3b4943 --- /dev/null +++ b/cot/chunk-0000/episode_0000976_ecot.json @@ -0,0 +1,1286 @@ +{ + "task_name": "episode_0000976", + "episode_json": "json/chunk-0000/episode_0000976.json", + "video_path": "videos/chunk-0000/image_0/episode_0000976.mp4", + "instruction": "Open white1fbox flap.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000976.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box flap\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the white box flap with open gripper, aligning for contact.\"},\n {\"id\": 2, \"name\": \"make contact with flap\", \"start\": 7, \"end\": 12, \"planning\": \"Establish gentle contact with the flap edge to prepare for opening motion without grasping.\"},\n {\"id\": 3, \"name\": \"push flap open\", \"start\": 13, \"end\": 16, \"planning\": \"Apply lateral and upward force via end-effector to slide and lift the flap open.\"},\n {\"id\": 4, \"name\": \"retreat after opening\", \"start\": 17, \"end\": 19, \"planning\": \"Withdraw end-effector from the opened flap area while maintaining clearance.\"}\n ],\n \"global_plan\": \"Open the white1fbox flap by approaching, making contact, pushing it open, and retreating — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper never closes (value=1.00082 constant), so no grasp/pick/place actions are valid. Motion is purely contact-based manipulation using end-effector body or tool tip.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box flap", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the white box flap with open gripper, aligning for contact." + }, + { + "id": 2, + "name": "make contact with flap", + "start": 7, + "end": 12, + "planning": "Establish gentle contact with the flap edge to prepare for opening motion without grasping." + }, + { + "id": 3, + "name": "push flap open", + "start": 13, + "end": 16, + "planning": "Apply lateral and upward force via end-effector to slide and lift the flap open." + }, + { + "id": 4, + "name": "retreat after opening", + "start": 17, + "end": 19, + "planning": "Withdraw end-effector from the opened flap area while maintaining clearance." + } + ], + "global_plan": "Open the white1fbox flap by approaching, making contact, pushing it open, and retreating — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper never closes (value=1.00082 constant), so no grasp/pick/place actions are valid. Motion is purely contact-based manipulation using end-effector body or tool tip." + } + }, + "episode_goal": "Open the white1fbox flap.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.24846763908863068, + -0.1417100429534912, + 0.10933180153369904, + -3.015435218811035, + -0.21392187476158142, + -0.03211171180009842 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with the flap partially visible and closed. No actions have been completed yet. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.24567121267318726, + -0.14004652202129364, + 0.09991101920604706, + -2.9890570640563965, + -0.1859886795282364, + -0.028164951130747795 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with the flap partially visible and closed. No actions have been completed yet. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move left 1 cm, move up 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24767865240573883, + -0.1436970829963684, + 0.09303547441959381, + -2.936851978302002, + -0.17584289610385895, + -0.0012121550971642137 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with the flap partially visible and closed. No actions have been completed yet. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, keep gripper open; then move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501191198825836, + -0.14429987967014313, + 0.08650107681751251, + -2.929502248764038, + -0.17779640853405, + 0.030685927718877792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "jar": [ + 475, + 91, + 575, + 281 + ], + "toy carrot": [ + 358, + 451, + 465, + 556 + ] + } + } + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap partially open. No prior actions have been completed in this subtask. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.254028856754303, + -0.14592640101909637, + 0.08677403628826141, + -2.9327657222747803, + -0.19347909092903137, + 0.025825560092926025 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap partially open. No prior actions have been completed in this subtask. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.256312757730484, + -0.14567947387695312, + 0.08181505650281906, + -2.917186737060547, + -0.19184522330760956, + 0.009229504503309727 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap partially open. No prior actions have been completed in this subtask. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.25944268703460693, + -0.142309308052063, + 0.08076102286577225, + -2.8994784355163574, + -0.19502849876880646, + -0.012517107650637627 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "approach box flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap partially open. No prior actions have been completed in this subtask. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 6 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2636670470237732, + -0.13919030129909515, + 0.07934034615755081, + -2.870405673980713, + -0.2133224457502365, + -0.028036141768097878 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap partially open. No prior actions have been completed in this subtask. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26461878418922424, + -0.1389600932598114, + 0.07696522027254105, + -2.8542826175689697, + -0.21595162153244019, + -0.03935626894235611 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot is positioned near the white box with its flap partially open. No prior actions have been completed in this subtask. The gripper remains fully open, indicating no grasping has occurred. The next likely action is to move closer to the flap to prepare for pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26306989789009094, + -0.13470861315727234, + 0.07823733985424042, + -2.838315486907959, + -0.1907792091369629, + -0.038415100425481796 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot arm is positioned near the white box flap with the gripper fully open, having completed the approach phase. The current situation shows the end-effector in close proximity to the flap, ready to initiate contact. The next action is to move forward slightly to make physical contact with the flap to begin pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper open; then move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629877030849457, + -0.133199080824852, + 0.08507806062698364, + -2.8014261722564697, + -0.1640310436487198, + -0.04339049383997917 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot arm is positioned near the white box flap with the gripper fully open, having completed the approach phase. The current situation shows the end-effector in close proximity to the flap, ready to initiate contact. The next action is to move forward slightly to make physical contact with the flap to begin pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2611487805843353, + -0.13040265440940857, + 0.09014534205198288, + -2.7714710235595703, + -0.14632610976696014, + -0.04546166956424713 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot arm is positioned near the white box flap with the gripper fully open, having completed the approach phase. The current situation shows the end-effector in close proximity to the flap, ready to initiate contact. The next action is to move forward slightly to make physical contact with the flap to begin pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.26160916686058044, + -0.1275719255208969, + 0.09653344005346298, + -2.7400717735290527, + -0.12249390780925751, + -0.06737257540225983 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "make contact with flap", + "subtask_reasoning": "The robot arm is positioned near the white box flap with the gripper fully open, having completed the approach phase. The current situation shows the end-effector in close proximity to the flap, ready to initiate contact. The next action is to move forward slightly to make physical contact with the flap to begin pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, keep gripper open; then move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26059097051620483, + -0.12181153148412704, + 0.10478636622428894, + -2.698221445083618, + -0.0836755782365799, + -0.0961260199546814 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "push flap open", + "subtask_reasoning": "The robot arm is positioned near the white box flap with the gripper fully open, having completed the approach phase. The current situation shows the end-effector in close proximity to the flap, ready to initiate contact. The next action is to move forward slightly to make physical contact with the flap to begin pushing it open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616118788719177, + -0.10968174040317535, + 0.12129105627536774, + -2.6869964599609375, + -0.07734518498182297, + -0.13745367527008057 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "push flap open", + "subtask_reasoning": "The robot is in contact with the white1fbox flap, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, confirming a push-only action. The next step is to continue applying forward force to fully open the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26557818055152893, + -0.09085900336503983, + 0.138096883893013, + -2.700035572052002, + -0.0698707178235054, + -0.18483324348926544 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "push flap open", + "subtask_reasoning": "The robot is in contact with the white1fbox flap, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, confirming a push-only action. The next step is to continue applying forward force to fully open the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move up 2 cm, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2663685977458954, + -0.05947218835353851, + 0.15449759364128113, + -2.692379951477051, + -0.06388352811336517, + -0.23786461353302002 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "jar": [ + 475, + 92, + 576, + 281 + ], + "cutting board": [ + 905, + 597, + 997, + 995 + ], + "toy carrot": [ + 358, + 451, + 465, + 555 + ] + } + } + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "push flap open", + "subtask_reasoning": "The robot is in contact with the white1fbox flap, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, confirming a push-only action. The next step is to continue applying forward force to fully open the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26500123739242554, + -0.020684313029050827, + 0.15799205005168915, + -2.69769287109375, + -0.06725458800792694, + -0.26662883162498474 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "retreat after opening", + "subtask_reasoning": "The robot is in contact with the white1fbox flap, having completed the approach and initial contact phases. The gripper remains fully open with no closing evidence, confirming a push-only action. The next step is to continue applying forward force to fully open the flap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26121246814727783, + 0.00479894271120429, + 0.15319962799549103, + -2.7103030681610107, + -0.12560804188251495, + -0.2961229085922241 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "retreat after opening", + "subtask_reasoning": "The white1fbox flap is fully open, and the robot has completed contact and pushing actions. The gripper remains fully open with no grasp evidence, and the robot is now retreating from the box to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.260257750749588, + 0.025254564359784126, + 0.13714870810508728, + -2.7616193294525146, + -0.14760249853134155, + -0.3072505593299866 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the white1fbox flap." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box flap" + }, + { + "id": 2, + "subtask": "make contact with flap" + }, + { + "id": 3, + "subtask": "push flap open" + }, + { + "id": 4, + "subtask": "retreat after opening" + } + ], + "subtask_name": "retreat after opening", + "subtask_reasoning": "The white1fbox flap is fully open, and the robot has completed contact and pushing actions. The gripper remains fully open with no grasp evidence, and the robot is now retreating from the box to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000980_ecot.json b/cot/chunk-0000/episode_0000980_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3e6138bed9452857493f2b41bca6d19543a28b57 --- /dev/null +++ b/cot/chunk-0000/episode_0000980_ecot.json @@ -0,0 +1,2150 @@ +{ + "task_name": "episode_0000980", + "episode_json": "json/chunk-0000/episode_0000980.json", + "video_path": "videos/chunk-0000/image_0/episode_0000980.mp4", + "instruction": "Move the brown pot to the bottom right corner of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000980.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.9391376376152039, + "std": 0.42509809136390686, + "delta_total": 0.009824931621551514, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93914, std=0.42510, total_delta=0.00982). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 114, + 114, + 114, + 114, + 114, + 114, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 214, + 228, + 228, + 228, + 228 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 13 + ], + [ + 3, + 14, + 19 + ], + [ + 4, + 20, + 27 + ], + [ + 5, + 28, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach brown pot\", \"start\": 0, \"end\": 7, \"planning\": \"Move the end-effector toward the brown pot on the stove without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp brown pot\", \"start\": 8, \"end\": 13, \"planning\": \"Close the gripper to securely grasp the brown pot, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 14, \"end\": 19, \"planning\": \"Lift the grasped brown pot slightly and begin moving it toward the bottom right corner of the stove.\"},\n {\"id\": 4, \"name\": \"place pot in target location\", \"start\": 20, \"end\": 27, \"planning\": \"Lower the brown pot into the bottom right corner of the stove and release grip as confirmed by gripper opening.\"},\n {\"id\": 5, \"name\": \"retreat from pot\", \"start\": 28, \"end\": 31, \"planning\": \"Open the gripper fully and move the end-effector away from the placed pot to complete the task.\"}\n ],\n \"global_plan\": \"Approach the brown pot, grasp it firmly, lift and translate it to the bottom right stove corner, place it down with controlled release, then retreat.\",\n \"notes\": \"Gripper evidence aligns with grasp in segments 2, 4, and 5; segment 1 shows no closure so described as approach only. Motion and state data support lifting and placing mechanics in segments 3–4.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach brown pot", + "start": 0, + "end": 7, + "planning": "Move the end-effector toward the brown pot on the stove without closing the gripper." + }, + { + "id": 2, + "name": "grasp brown pot", + "start": 8, + "end": 13, + "planning": "Close the gripper to securely grasp the brown pot, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 14, + "end": 19, + "planning": "Lift the grasped brown pot slightly and begin moving it toward the bottom right corner of the stove." + }, + { + "id": 4, + "name": "place pot in target location", + "start": 20, + "end": 27, + "planning": "Lower the brown pot into the bottom right corner of the stove and release grip as confirmed by gripper opening." + }, + { + "id": 5, + "name": "retreat from pot", + "start": 28, + "end": 31, + "planning": "Open the gripper fully and move the end-effector away from the placed pot to complete the task." + } + ], + "global_plan": "Approach the brown pot, grasp it firmly, lift and translate it to the bottom right stove corner, place it down with controlled release, then retreat.", + "notes": "Gripper evidence aligns with grasp in segments 2, 4, and 5; segment 1 shows no closure so described as approach only. Motion and state data support lifting and placing mechanics in segments 3–4." + } + }, + "episode_goal": "Move the brown pot to the bottom right corner of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3340541422367096, + -0.0685175359249115, + 0.0504322275519371, + 3.1349587440490723, + -0.22760918736457825, + 0.13616397976875305 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33069083094596863, + -0.0681997537612915, + 0.040410831570625305, + -3.139373540878296, + -0.19628798961639404, + 0.1355758160352707 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32247796654701233, + -0.04651377350091934, + 0.038036178797483444, + 3.133488893508911, + -0.16462256014347076, + 0.205485999584198 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3185788094997406, + -0.015404107980430126, + 0.048850033432245255, + 3.0954129695892334, + -0.19262447953224182, + 0.33792367577552795 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 99, + 326, + 390, + 503 + ], + "sink": [ + 728, + 466, + 993, + 946 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot arm is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the arm closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 15 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 50 degrees, keep gripper open; then move back 1 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106424808502197, + 0.018086010590195656, + 0.04801714047789574, + 3.0724143981933594, + -0.20937174558639526, + 0.5016571283340454 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot arm is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the arm closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move down 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3047138452529907, + 0.054650355130434036, + 0.04459967836737633, + 3.072700262069702, + -0.23010240495204926, + 0.7146552801132202 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot arm is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the arm closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper open; then move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3043974041938782, + 0.08392416685819626, + 0.03652779385447502, + 3.059544563293457, + -0.23286254703998566, + 0.883758544921875 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot arm is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the arm closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30743032693862915, + 0.11364142596721649, + 0.0282414723187685, + 3.070930004119873, + -0.2364467978477478, + 1.0501995086669922 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "approach brown pot", + "subtask_reasoning": "The robot arm is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the arm closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31050875782966614, + 0.13417886197566986, + 0.018648920580744743, + 3.057844877243042, + -0.21297940611839294, + 1.1719233989715576 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "frying pan": [ + 101, + 356, + 407, + 504 + ], + "toy kitchen unit": [ + 10, + 16, + 988, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp brown pot", + "subtask_reasoning": "The robot arm is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the arm closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 4 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move right 2 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31453534960746765, + 0.14437437057495117, + 0.0134082967415452, + 3.057436227798462, + -0.20926925539970398, + 1.2288637161254883 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp brown pot", + "subtask_reasoning": "The robot arm is positioned above the stove with the brown pot visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the arm closer to the brown pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 3 cm, close gripper; then move right 3 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.30933865904808044, + 0.15036337077617645, + 0.003757321275770664, + 3.09438419342041, + -0.20997659862041473, + 1.2674891948699951 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp brown pot", + "subtask_reasoning": "The robot arm is positioned above the brown pot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pot. The next action is to initiate gripper closure to grasp the pot firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, close gripper; then move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3037024736404419, + 0.15775682032108307, + -0.008165604434907436, + 3.13736891746521, + -0.19903117418289185, + 1.2910842895507812 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp brown pot", + "subtask_reasoning": "The robot arm is positioned above the brown pot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pot. The next action is to initiate gripper closure to grasp the pot firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.299487829208374, + 0.16430599987506866, + -0.011027395725250244, + -3.138988494873047, + -0.19329628348350525, + 1.3063174486160278 + ], + "gripper_value": 0.9716382026672363 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp brown pot", + "subtask_reasoning": "The robot arm is positioned above the brown pot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pot. The next action is to initiate gripper closure to grasp the pot firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3033882975578308, + 0.16543813049793243, + -0.017981255427002907, + 3.1346535682678223, + -0.16312608122825623, + 1.2758512496948242 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "grasp brown pot", + "subtask_reasoning": "The robot arm is positioned above the brown pot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pot. The next action is to initiate gripper closure to grasp the pot firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3055570423603058, + 0.16652555763721466, + -0.018773000687360764, + 3.1200339794158936, + -0.1822175234556198, + 1.2719366550445557 + ], + "gripper_value": 0.4112652540206909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned above the brown pot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pot. The next action is to initiate gripper closure to grasp the pot firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.30380433797836304, + 0.16416655480861664, + -0.0194583460688591, + 3.111567735671997, + -0.18199267983436584, + 1.2744598388671875 + ], + "gripper_value": 0.1972842812538147 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned above the brown pot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the current subtask requires closing the gripper to secure the pot. The next action is to initiate gripper closure to grasp the pot firmly." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.30175015330314636, + 0.16026251018047333, + -0.018363049253821373, + 3.0938360691070557, + -0.175471693277359, + 1.2750263214111328 + ], + "gripper_value": 0.08998419344425201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The brown pot is currently grasped and lifted above the stove surface. The gripper has closed significantly during this segment, confirming a firm hold. The next action is to translate the pot toward the bottom right corner of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 5 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 9 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.298861563205719, + 0.15469978749752045, + -0.0013405168429017067, + 3.0882246494293213, + -0.1575491726398468, + 1.2476969957351685 + ], + "gripper_value": 0.07624256610870361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The brown pot is currently grasped and lifted above the stove surface. The gripper has closed significantly during this segment, confirming a firm hold. The next action is to translate the pot toward the bottom right corner of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2979660928249359, + 0.15011104941368103, + 0.01679939590394497, + 3.051970958709717, + -0.16778403520584106, + 1.216305136680603 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The brown pot is currently grasped and lifted above the stove surface. The gripper has closed significantly during this segment, confirming a firm hold. The next action is to translate the pot toward the bottom right corner of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.304146409034729, + 0.13638558983802795, + 0.02625444531440735, + 3.024869918823242, + -0.16107991337776184, + 1.12400221824646 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The brown pot is currently grasped and lifted above the stove surface. The gripper has closed significantly during this segment, confirming a firm hold. The next action is to translate the pot toward the bottom right corner of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.310004323720932, + 0.10793934762477875, + 0.030173514038324356, + 2.994422435760498, + -0.15662150084972382, + 1.0068542957305908 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently grasped and lifted above the stove surface. The gripper has closed significantly during this segment, confirming a firm hold. The next action is to translate the pot toward the bottom right corner of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 8 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3088924288749695, + 0.07344047725200653, + 0.024170473217964172, + 2.9824259281158447, + -0.14534500241279602, + 0.8513807058334351 + ], + "gripper_value": 0.07238461822271347 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen unit": [ + 10, + 14, + 987, + 987 + ], + "sink": [ + 728, + 470, + 994, + 946 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently grasped and lifted above the stove surface. The gripper has closed significantly during this segment, confirming a firm hold. The next action is to translate the pot toward the bottom right corner of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 20 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30351364612579346, + 0.044877320528030396, + 0.018837399780750275, + 2.979787588119507, + -0.15079158544540405, + 0.7134369611740112 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently grasped and lifted above the stove surface. The gripper has closed significantly during this segment, confirming a firm hold. The next action is to translate the pot toward the bottom right corner of the stove for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30469992756843567, + 0.025334320962429047, + 0.013089976273477077, + 2.9958746433258057, + -0.1812451034784317, + 0.607627809047699 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently held by the gripper and positioned directly above the target bottom-right burner on the stove. The gripper remains closed, indicating the pot is still being supported. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3018297851085663, + 0.020689373835921288, + -0.003494326025247574, + 3.011202573776245, + -0.15147331357002258, + 0.5647101998329163 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy kitchen unit": [ + 12, + 17, + 987, + 988 + ] + } + } + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently held by the gripper and positioned directly above the target bottom-right burner on the stove. The gripper remains closed, indicating the pot is still being supported. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30103471875190735, + 0.019244011491537094, + -0.012296270579099655, + 3.0239462852478027, + -0.14309704303741455, + 0.5624926686286926 + ], + "gripper_value": 0.07206849008798599 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently held by the gripper and positioned directly above the target bottom-right burner on the stove. The gripper remains closed, indicating the pot is still being supported. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3000701069831848, + 0.02178012952208519, + -0.01703190803527832, + 3.043015718460083, + -0.1414467692375183, + 0.5638479590415955 + ], + "gripper_value": 0.09179956465959549 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently held by the gripper and positioned directly above the target bottom-right burner on the stove. The gripper remains closed, indicating the pot is still being supported. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.297871470451355, + 0.024102142080664635, + -0.019683515653014183, + 3.068408489227295, + -0.12458761036396027, + 0.5698311924934387 + ], + "gripper_value": 0.25753310322761536 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "place pot in target location", + "subtask_reasoning": "The brown pot is currently held by the gripper and positioned directly above the target bottom-right burner on the stove. The gripper remains closed, indicating the pot is still being supported. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 27 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.29696014523506165, + 0.023524349555373192, + -0.019815267994999886, + 3.0687777996063232, + -0.11792203038930893, + 0.566966712474823 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The brown pot is currently held by the gripper and positioned directly above the target bottom-right burner on the stove. The gripper remains closed, indicating the pot is still being supported. The next action is to lower the pot onto the burner and release the grip to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2972738742828369, + 0.023424096405506134, + -0.019577492028474808, + 3.0680935382843018, + -0.11758451908826828, + 0.5667168498039246 + ], + "gripper_value": 0.8435940742492676 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The brown pot is now positioned at the bottom right corner of the stove, and the gripper has released it. The robot arm is beginning to retreat from the pot, moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2977682650089264, + 0.023750027641654015, + -0.01044149324297905, + 3.0619020462036133, + -0.130091592669487, + 0.5593483448028564 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The brown pot is now positioned at the bottom right corner of the stove, and the gripper has released it. The robot arm is beginning to retreat from the pot, moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.29900819063186646, + 0.02271089144051075, + 0.01649567484855652, + 3.0403552055358887, + -0.16093498468399048, + 0.5496108531951904 + ], + "gripper_value": 1.0086473226547241 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the brown pot to the bottom right corner of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach brown pot" + }, + { + "id": 2, + "subtask": "grasp brown pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "place pot in target location" + }, + { + "id": 5, + "subtask": "retreat from pot" + } + ], + "subtask_name": "retreat from pot", + "subtask_reasoning": "The brown pot is now positioned at the bottom right corner of the stove, and the gripper has released it. The robot arm is beginning to retreat from the pot, moving away to complete the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 28, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000981_ecot.json b/cot/chunk-0000/episode_0000981_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f240278387e407b9641afc4d1eca7291dd8bd803 --- /dev/null +++ b/cot/chunk-0000/episode_0000981_ecot.json @@ -0,0 +1,1958 @@ +{ + "task_name": "episode_0000981", + "episode_json": "json/chunk-0000/episode_0000981.json", + "video_path": "videos/chunk-0000/image_0/episode_0000981.mp4", + "instruction": "Close microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 31, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000981.json" + }, + "fps": 5.0, + "T_eff": 31, + "gripper_behavior_summary": { + "available": true, + "range": 0.000666201114654541, + "std": 0.00019696239905897528, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00020, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 22 + ], + [ + 3, + 23, + 25 + ], + [ + 4, + 26, + 30 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector toward the microwave door handle area without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with door\", \"start\": 9, \"end\": 22, \"planning\": \"Position gripper to make physical contact with the microwave door for closing.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 23, \"end\": 25, \"planning\": \"Apply forward motion to push the microwave door shut using contact force.\"},\n {\"id\": 4, \"name\": \"retreat from door\", \"start\": 26, \"end\": 30, \"planning\": \"Withdraw end-effector away from the now-closed microwave door.\"}\n ],\n \"global_plan\": \"Close the microwave door by approaching, making contact, pushing it shut, and retreating — all without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes; all actions are contact-based pushing/nudging. Segment boundaries preserved for natural phase transitions.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 8, + "planning": "Move end-effector toward the microwave door handle area without grasping." + }, + { + "id": 2, + "name": "make contact with door", + "start": 9, + "end": 22, + "planning": "Position gripper to make physical contact with the microwave door for closing." + }, + { + "id": 3, + "name": "push door closed", + "start": 23, + "end": 25, + "planning": "Apply forward motion to push the microwave door shut using contact force." + }, + { + "id": 4, + "name": "retreat from door", + "start": 26, + "end": 30, + "planning": "Withdraw end-effector away from the now-closed microwave door." + } + ], + "global_plan": "Close the microwave door by approaching, making contact, pushing it shut, and retreating — all without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes; all actions are contact-based pushing/nudging. Segment boundaries preserved for natural phase transitions." + } + }, + "episode_goal": "Close the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26477155089378357, + 0.04686599224805832, + 0.01820872537791729, + 3.1024582386016846, + -0.1094096377491951, + 0.3980071544647217 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave with the gripper open, indicating no grasp has occurred. The current subtask involves approaching the microwave door, and the next action should be to move closer to make contact with the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 9 cm, move up 15 cm, tilt right 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2597578763961792, + 0.04487200081348419, + 0.013738115318119526, + 3.1047120094299316, + -0.08015736937522888, + 0.3958939015865326 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave with the gripper open, indicating no grasp has occurred. The current subtask involves approaching the microwave door, and the next action should be to move closer to make contact with the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, move up 15 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2567417025566101, + 0.03941812738776207, + 0.037678312510252, + 3.0540497303009033, + -0.08525354415178299, + 0.4110439121723175 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave with the gripper open, indicating no grasp has occurred. The current subtask involves approaching the microwave door, and the next action should be to move closer to make contact with the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 10 cm, move up 13 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25265613198280334, + 0.036067280918359756, + 0.08310547471046448, + 2.971015691757202, + -0.10911700874567032, + 0.42007869482040405 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave with the gripper open, indicating no grasp has occurred. The current subtask involves approaching the microwave door, and the next action should be to move closer to make contact with the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move up 8 cm, keep gripper open; then move forward 1 cm, move right 3 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24105602502822876, + 0.04674094542860985, + 0.12079430371522903, + 2.92101788520813, + -0.1022784635424614, + 0.41855162382125854 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 4 cm, keep gripper open; then move forward 3 cm, move right 5 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23264740407466888, + 0.07093849778175354, + 0.14750050008296967, + 2.90571928024292, + -0.09519900381565094, + 0.44056597352027893 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 2 cm, keep gripper open; then move forward 4 cm, move right 7 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22652599215507507, + 0.08930986374616623, + 0.168440043926239, + 2.851288080215454, + -0.096929632127285, + 0.4477699100971222 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 300, + 615, + 563, + 918 + ], + "stove burner": [ + 585, + 749, + 838, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, tilt left 10 degrees, keep gripper open; then move forward 5 cm, move right 10 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.21773438155651093, + 0.10855511575937271, + 0.2010125368833542, + 2.776664972305298, + -0.112269826233387, + 0.4596959054470062 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move right 12 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21073199808597565, + 0.12511055171489716, + 0.19706228375434875, + 2.844346046447754, + -0.12775637209415436, + 0.4696260988712311 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move right 15 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.19868969917297363, + 0.135563924908638, + 0.16436970233917236, + 2.940784454345703, + -0.12939003109931946, + 0.436549574136734 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 17 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.19369207322597504, + 0.13904398679733276, + 0.14915546774864197, + 3.0033695697784424, + -0.13430888950824738, + 0.4390571713447571 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 17 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18798239529132843, + 0.13723278045654297, + 0.13595783710479736, + 3.0164685249328613, + -0.11614377796649933, + 0.4425422251224518 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 15 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19240321218967438, + 0.12963388860225677, + 0.1370604783296585, + 2.968106508255005, + -0.11445560306310654, + 0.46668508648872375 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2069862186908722, + 0.10889586806297302, + 0.13294562697410583, + 2.9421606063842773, + -0.10769093036651611, + 0.520637035369873 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 6 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2257312834262848, + 0.08518444001674652, + 0.12737402319908142, + 2.9345970153808594, + -0.11302079260349274, + 0.5437129735946655 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 300, + 616, + 563, + 918 + ], + "stove burner": [ + 584, + 749, + 837, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot is positioned near the open microwave door with the gripper open and no contact made yet. The subtask of approaching the microwave door is in progress, with motion observed but no grasping or closing action initiated. The next likely action is to continue moving the end effector closer to the microwave door to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 2 cm, keep gripper open; then move forward 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24097861349582672, + 0.061357609927654266, + 0.11672309786081314, + 2.9389235973358154, + -0.10333294421434402, + 0.5523653030395508 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 3 cm, move left 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2511207163333893, + 0.03998829051852226, + 0.10948997735977173, + 2.9255318641662598, + -0.08019238710403442, + 0.5708708763122559 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26590511202812195, + 0.013769416138529778, + 0.11767563223838806, + 2.8786683082580566, + -0.06580394506454468, + 0.5696876645088196 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2689867317676544, + -0.009961006231606007, + 0.12845861911773682, + 2.8170690536499023, + -0.022098232060670853, + 0.5643332600593567 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.27527445554733276, + -0.03675093129277229, + 0.1450004130601883, + 2.749051332473755, + -0.01623203232884407, + 0.5499040484428406 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25319766998291016, + -0.03528513014316559, + 0.14476266503334045, + 2.7587649822235107, + -0.02422879822552204, + 0.4620802402496338 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.236063152551651, + -0.012210452929139137, + 0.13195890188217163, + 2.8381710052490234, + -0.030841847881674767, + 0.4358578324317932 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stove burner": [ + 584, + 750, + 837, + 995 + ], + "sink": [ + 302, + 615, + 566, + 918 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23434950411319733, + 0.024934211745858192, + 0.12011556327342987, + 2.92583966255188, + -0.08361931890249252, + 0.4576477110385895 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "make contact with door", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.244892880320549, + 0.053456131368875504, + 0.10941997915506363, + 2.947444200515747, + -0.12187402695417404, + 0.525779128074646 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 302, + 615, + 565, + 918 + ], + "stove burner": [ + 584, + 749, + 837, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the microwave and is now in close proximity to the door. The gripper remains open, consistent with the plan to push without grasping. The next action is to make physical contact with the microwave door to initiate closing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2604199945926666, + 0.06967458128929138, + 0.10761918872594833, + 2.95054292678833, + -0.17381049692630768, + 0.5834745168685913 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot end-effector is in contact with the microwave door, which is currently ajar. The gripper remains open throughout, consistent with a pushing motion rather than grasping. The next action is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27232474088668823, + 0.07564101368188858, + 0.10995107144117355, + 2.9140639305114746, + -0.22696757316589355, + 0.620180070400238 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot end-effector is in contact with the microwave door, which is currently ajar. The gripper remains open throughout, consistent with a pushing motion rather than grasping. The next action is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808178961277008, + 0.07546520978212357, + 0.11322151124477386, + 2.872297763824463, + -0.2716216444969177, + 0.6269207000732422 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "retreat from door", + "subtask_reasoning": "The robot end-effector is in contact with the microwave door, which is currently ajar. The gripper remains open throughout, consistent with a pushing motion rather than grasping. The next action is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2865105867385864, + 0.07356388121843338, + 0.11253505945205688, + 2.7745187282562256, + -0.3083762228488922, + 0.6395821571350098 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "retreat from door", + "subtask_reasoning": "The robot end-effector is in contact with the microwave door, which is currently ajar. The gripper remains open throughout, consistent with a pushing motion rather than grasping. The next action is to continue applying forward force to fully close the door." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2907141149044037, + 0.07441306859254837, + 0.11413101851940155, + 2.757037878036499, + -0.32979899644851685, + 0.6562595963478088 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "retreat from door", + "subtask_reasoning": "The microwave door is closed, and the robot's end-effector is positioned near the door handle with the gripper open. The retreat phase has begun, as indicated by the motion away from the door. The next action is to continue moving the arm backward to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2890032231807709, + 0.07401028275489807, + 0.11389467120170593, + 2.7618374824523926, + -0.31540030241012573, + 0.6640233397483826 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "retreat from door", + "subtask_reasoning": "The microwave door is closed, and the robot's end-effector is positioned near the door handle with the gripper open. The retreat phase has begun, as indicated by the motion away from the door. The next action is to continue moving the arm backward to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2635211944580078, + 0.08268282562494278, + 0.11197175830602646, + 2.916546583175659, + -0.2397298961877823, + 0.6595322489738464 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "make contact with door" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "retreat from door" + } + ], + "subtask_name": "retreat from door", + "subtask_reasoning": "The microwave door is closed, and the robot's end-effector is positioned near the door handle with the gripper open. The retreat phase has begun, as indicated by the motion away from the door. The next action is to continue moving the arm backward to complete the retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 26, + "end": 30 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000982_ecot.json b/cot/chunk-0000/episode_0000982_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0b0d0c4d85e1fcc02e7c7cedce43ca96e3646095 --- /dev/null +++ b/cot/chunk-0000/episode_0000982_ecot.json @@ -0,0 +1,2332 @@ +{ + "task_name": "episode_0000982", + "episode_json": "json/chunk-0000/episode_0000982.json", + "video_path": "videos/chunk-0000/image_0/episode_0000982.mp4", + "instruction": "Slide the green rag in front of the sushi.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000982.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.003982663154602051, + "std": 0.0006095644785091281, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00398, std=0.00061, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 17 + ], + [ + 3, + 18, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach green rag\", \"start\": 0, \"end\": 13, \"planning\": \"Move the end-effector down toward the green rag on the left side of the table to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with rag\", \"start\": 14, \"end\": 17, \"planning\": \"Lower the gripper slightly and establish stable contact with the surface of the green rag without closing.\"},\n {\"id\": 3, \"name\": \"slide rag forward\", \"start\": 18, \"end\": 39, \"planning\": \"Push the green rag across the table surface toward the front, positioning it in front of the sushi roll.\"}\n ],\n \"global_plan\": \"Approach the green rag, make contact without grasping, then slide it forward to place it in front of the sushi.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is purely translational sliding via contact push.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach green rag", + "start": 0, + "end": 13, + "planning": "Move the end-effector down toward the green rag on the left side of the table to prepare for contact." + }, + { + "id": 2, + "name": "make contact with rag", + "start": 14, + "end": 17, + "planning": "Lower the gripper slightly and establish stable contact with the surface of the green rag without closing." + }, + { + "id": 3, + "name": "slide rag forward", + "start": 18, + "end": 39, + "planning": "Push the green rag across the table surface toward the front, positioning it in front of the sushi roll." + } + ], + "global_plan": "Approach the green rag, make contact without grasping, then slide it forward to place it in front of the sushi.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is purely translational sliding via contact push." + } + }, + "episode_goal": "Slide the green rag in front of the sushi.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.377560555934906, + -0.05077948421239853, + 0.12408067286014557, + 3.028679847717285, + -0.4538097381591797, + -0.19709521532058716 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is positioned above the table with the green rag visible to the left and the sushi to the right. No actions have been completed yet as the robot is still approaching the target area. The next step is to move the end effector closer to the green rag to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move left 20 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3724077343940735, + -0.05086870864033699, + 0.11049213260412216, + 3.019343852996826, + -0.4072372019290924, + -0.19468528032302856 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is positioned above the table with the green rag visible to the left and the sushi to the right. No actions have been completed yet as the robot is still approaching the target area. The next step is to move the end effector closer to the green rag to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 19 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613389730453491, + -0.02511272206902504, + 0.11501643061637878, + 3.0080106258392334, + -0.3850153684616089, + -0.1348615437746048 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is positioned above the table with the green rag visible to the left and the sushi to the right. No actions have been completed yet as the robot is still approaching the target area. The next step is to move the end effector closer to the green rag to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 15 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3483926057815552, + 0.014145713299512863, + 0.12892480194568634, + 3.009969472885132, + -0.4093707203865051, + -0.057982172816991806 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 382, + 263, + 588, + 480 + ], + "green cloth": [ + 48, + 350, + 344, + 613 + ], + "sponge": [ + 615, + 373, + 729, + 516 + ], + "blue bottle": [ + 321, + 293, + 378, + 380 + ] + } + } + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is positioned above the table with the green rag visible to the left and the sushi to the right. No actions have been completed yet as the robot is still approaching the target area. The next step is to move the end effector closer to the green rag to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 11 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357602655887604, + 0.047216787934303284, + 0.13583151996135712, + 3.036775827407837, + -0.4110312759876251, + -0.008887780830264091 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is positioned above the table with the green rag visible to the left and the sushi to the right. No actions have been completed yet as the robot is still approaching the target area. The next step is to move the end effector closer to the green rag to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 8 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.31915101408958435, + 0.0936490073800087, + 0.12789833545684814, + 3.0689382553100586, + -0.39231905341148376, + 0.06222650408744812 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is positioned above the table with the green rag visible to the left and the sushi to the right. No actions have been completed yet as the robot is still approaching the target area. The next step is to move the end effector closer to the green rag to prepare for sliding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30634868144989014, + 0.12513524293899536, + 0.1173778772354126, + 3.0666022300720215, + -0.38142019510269165, + 0.10429410636425018 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 11 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28998473286628723, + 0.14456947147846222, + 0.10357010364532471, + 3.068073272705078, + -0.3608448803424835, + 0.16223107278347015 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 9 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802482545375824, + 0.150757297873497, + 0.08391129970550537, + 3.1090521812438965, + -0.29977285861968994, + 0.14344565570354462 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2754250466823578, + 0.1482514888048172, + 0.07273058593273163, + 3.12809681892395, + -0.2774689495563507, + 0.13573049008846283 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open; then move right 3 cm, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717443108558655, + 0.14588063955307007, + 0.056511372327804565, + 3.1309945583343506, + -0.26967692375183105, + 0.14282619953155518 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open; then move right 3 cm, keep gripper open; then move right 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27612265944480896, + 0.1390373408794403, + 0.03998155891895294, + 3.1274707317352295, + -0.25309228897094727, + 0.135610431432724 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper open; then move right 3 cm, keep gripper open; then move right 7 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27962160110473633, + 0.12795166671276093, + 0.021164461970329285, + 3.129619598388672, + -0.20327900350093842, + 0.13247571885585785 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move right 3 cm, keep gripper open; then move right 10 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2848396897315979, + 0.12615540623664856, + 0.012180321849882603, + 3.1340134143829346, + -0.19008180499076843, + 0.1449286937713623 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "approach green rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 3 cm, keep gripper open; then move right 12 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2852330505847931, + 0.1269567310810089, + 0.010264628566801548, + -3.1207592487335205, + -0.17534023523330688, + 0.14235961437225342 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot is approaching the green rag on the wooden table, with the sushi visible to the right. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end-effector closer to the rag to prepare for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 1 cm, move right 15 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2830626666545868, + 0.1298162341117859, + 0.009871951304376125, + -3.1153554916381836, + -0.17020633816719055, + 0.15250539779663086 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 1 cm, move right 18 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28303730487823486, + 0.1281730979681015, + 0.009549870155751705, + -3.1229119300842285, + -0.16933467984199524, + 0.1552278995513916 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, keep gripper open; then move back 1 cm, move right 20 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28435513377189636, + 0.11551794409751892, + 0.007370330393314362, + -3.132678985595703, + -0.15912632644176483, + 0.13143926858901978 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "make contact with rag", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 2 cm, move right 21 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846774756908417, + 0.09993289411067963, + 0.007440982386469841, + 3.1357502937316895, + -0.1660248041152954, + 0.11259078234434128 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 21 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2866775095462799, + 0.07725103199481964, + 0.007708778604865074, + 3.1320972442626953, + -0.1631534844636917, + 0.05294559523463249 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 388, + 261, + 587, + 480 + ], + "sponge": [ + 615, + 372, + 728, + 516 + ], + "blue bottle": [ + 334, + 271, + 380, + 377 + ], + "green cloth": [ + 96, + 387, + 345, + 626 + ] + } + } + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 16 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2872229516506195, + 0.05277783423662186, + 0.007848687469959259, + 3.1086931228637695, + -0.17272303998470306, + 0.01718221977353096 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 12 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2864720821380615, + 0.029578080400824547, + 0.009036277420818806, + 3.0989811420440674, + -0.18376438319683075, + -0.023563744500279427 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2845458686351776, + 0.0020940920803695917, + 0.008186882361769676, + 3.091341257095337, + -0.18633632361888885, + -0.07294005900621414 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809140682220459, + -0.022097613662481308, + 0.008135414682328701, + 3.0808799266815186, + -0.20080247521400452, + -0.11727160960435867 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27928268909454346, + -0.050110697746276855, + 0.009448613040149212, + 3.059251308441162, + -0.206414595246315, + -0.15260152518749237 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27503228187561035, + -0.07580611109733582, + 0.009997205808758736, + 3.047498941421509, + -0.21047799289226532, + -0.1965082734823227 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2707303464412689, + -0.09927236288785934, + 0.009725458920001984, + 3.027963161468506, + -0.21272574365139008, + -0.22515612840652466 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.26750367879867554, + -0.10794184356927872, + 0.009516557678580284, + 3.0265750885009766, + -0.21337692439556122, + -0.23910368978977203 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 392, + 280, + 574, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot has approached the green rag and is now positioned directly above it with the gripper open. Contact has not yet been made, as the gripper remains fully open and no downward motion is evident. The next action should be to lower the end-effector slightly to make physical contact with the rag without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26340991258621216, + -0.10507727414369583, + 0.01175293605774641, + 3.0286712646484375, + -0.2157614529132843, + -0.2319341003894806 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655670642852783, + -0.08513674885034561, + 0.016277354210615158, + 3.047677516937256, + -0.20187294483184814, + -0.16886761784553528 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move up 12 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27338629961013794, + -0.06839292496442795, + 0.03206068277359009, + 3.0606489181518555, + -0.23681360483169556, + -0.13118846714496613 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.28464236855506897, + -0.062153611332178116, + 0.05817727372050285, + 3.061483383178711, + -0.2954200804233551, + -0.11274489760398865 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29254528880119324, + -0.06208878383040428, + 0.08906251192092896, + 3.0494771003723145, + -0.35422077775001526, + -0.09632071852684021 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 376, + 511, + 698, + 873 + ], + "blue bottle": [ + 320, + 292, + 379, + 381 + ], + "metal pot": [ + 388, + 268, + 533, + 484 + ] + } + } + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29010680317878723, + -0.06284544616937637, + 0.1193520650267601, + 3.0299112796783447, + -0.4102790653705597, + -0.07648194581270218 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.28593558073043823, + -0.059955429285764694, + 0.13158732652664185, + 3.0085346698760986, + -0.4255317747592926, + -0.059635140001773834 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856961190700531, + -0.060111090540885925, + 0.13150842487812042, + 3.0077402591705322, + -0.4240778684616089, + -0.060327719897031784 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2854744791984558, + -0.060099903494119644, + 0.13140878081321716, + 3.0078182220458984, + -0.42255768179893494, + -0.06055217981338501 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.28575602173805237, + -0.05966777727007866, + 0.13195566833019257, + 3.0075786113739014, + -0.42560479044914246, + -0.058727096766233444 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856641709804535, + -0.060106050223112106, + 0.13195566833019257, + 3.0075786113739014, + -0.42560479044914246, + -0.0602610819041729 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2856961190700531, + -0.060111090540885925, + 0.13150842487812042, + 3.0077402591705322, + -0.4240778684616089, + -0.060327719897031784 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the green rag in front of the sushi." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach green rag" + }, + { + "id": 2, + "subtask": "make contact with rag" + }, + { + "id": 3, + "subtask": "slide rag forward" + } + ], + "subtask_name": "slide rag forward", + "subtask_reasoning": "The robot is in contact with the green rag on the wooden table, positioned to push it forward. The gripper remains open with no closing evidence, confirming a sliding motion rather than grasping. The next action is to continue pushing the rag toward the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000984_ecot.json b/cot/chunk-0000/episode_0000984_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7764e837f07d71fb194fe0df217f9f277e66604a --- /dev/null +++ b/cot/chunk-0000/episode_0000984_ecot.json @@ -0,0 +1,1539 @@ +{ + "task_name": "episode_0000984", + "episode_json": "json/chunk-0000/episode_0000984.json", + "video_path": "videos/chunk-0000/image_0/episode_0000984.mp4", + "instruction": "Put red bottle in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000984.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.6209701299667358, + "std": 0.28656092286109924, + "delta_total": -0.394628643989563, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.62097, std=0.28656, total_delta=-0.39463). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 14, + 14, + 14, + 14, + 14, + 114, + 114, + 114, + 122 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ], + [ + 2, + 14, + 18 + ], + [ + 3, + 19, + 21 + ], + [ + 4, + 22, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red bottle\", \"start\": 0, \"end\": 13, \"planning\": \"Move end-effector toward the red bottle on the counter and close gripper to establish contact.\"},\n {\"id\": 2, \"name\": \"grasp and lift red bottle\", \"start\": 14, \"end\": 18, \"planning\": \"Secure grip on red bottle and lift it slightly while repositioning over sink area.\"},\n {\"id\": 3, \"name\": \"lower bottle into sink\", \"start\": 19, \"end\": 21, \"planning\": \"Descend with held red bottle and position it vertically above sink basin for release.\"},\n {\"id\": 4, \"name\": \"release bottle in sink\", \"start\": 22, \"end\": 22, \"planning\": \"Open gripper to drop red bottle into sink and retreat slightly to complete placement.\"}\n ],\n \"global_plan\": \"Approach, grasp, lift, lower, and release the red bottle into the sink using coordinated motion and gripper control across four contiguous phases.\",\n \"notes\": \"Segment 1 shows gripper closing (delta=-0.45779) consistent with grasp initiation; Segment 2 maintains low gripper value indicating hold; Segments 3–4 show no further closing but image evidence confirms bottle is held then released — wording adjusted per anti-hallucination rules to reflect observed mechanics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red bottle", + "start": 0, + "end": 13, + "planning": "Move end-effector toward the red bottle on the counter and close gripper to establish contact." + }, + { + "id": 2, + "name": "grasp and lift red bottle", + "start": 14, + "end": 18, + "planning": "Secure grip on red bottle and lift it slightly while repositioning over sink area." + }, + { + "id": 3, + "name": "lower bottle into sink", + "start": 19, + "end": 21, + "planning": "Descend with held red bottle and position it vertically above sink basin for release." + }, + { + "id": 4, + "name": "release bottle in sink", + "start": 22, + "end": 22, + "planning": "Open gripper to drop red bottle into sink and retreat slightly to complete placement." + } + ], + "global_plan": "Approach, grasp, lift, lower, and release the red bottle into the sink using coordinated motion and gripper control across four contiguous phases.", + "notes": "Segment 1 shows gripper closing (delta=-0.45779) consistent with grasp initiation; Segment 2 maintains low gripper value indicating hold; Segments 3–4 show no further closing but image evidence confirms bottle is held then released — wording adjusted per anti-hallucination rules to reflect observed mechanics." + } + }, + "episode_goal": "Place the red bottle into the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529231548309326, + -0.06483155488967896, + 0.10847601294517517, + -2.9264168739318848, + -0.33408743143081665, + 0.056440696120262146 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned above the countertop with the red bottle visible to the left of the sink. No actions have been completed yet. The gripper is open and the arm is beginning to move toward the bottle. The next action is to continue approaching the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 24 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3358438014984131, + -0.05635929852724075, + 0.10395471751689911, + -2.8839352130889893, + -0.21914835274219513, + 0.059471335262060165 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned above the countertop with the red bottle visible to the left of the sink. No actions have been completed yet. The gripper is open and the arm is beginning to move toward the bottle. The next action is to continue approaching the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 24 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31506145000457764, + -0.019343046471476555, + 0.13306958973407745, + -2.8520874977111816, + -0.14784671366214752, + 0.059052180498838425 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned above the countertop with the red bottle visible to the left of the sink. No actions have been completed yet. The gripper is open and the arm is beginning to move toward the bottle. The next action is to continue approaching the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 21 cm, move down 6 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.28289487957954407, + 0.031930502504110336, + 0.15809784829616547, + -2.8328516483306885, + -0.1301400065422058, + 0.04785027354955673 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 36, + 275, + 155, + 553 + ], + "sink": [ + 272, + 338, + 877, + 915 + ], + "purple onion": [ + 503, + 122, + 581, + 241 + ], + "lemon": [ + 371, + 572, + 461, + 679 + ], + "carrot": [ + 847, + 757, + 993, + 862 + ], + "stove burners": [ + 148, + 291, + 359, + 499 + ] + } + } + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned above the countertop with the red bottle visible to the left of the sink. No actions have been completed yet. The gripper is open and the arm is beginning to move toward the bottle. The next action is to continue approaching the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 16 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24978023767471313, + 0.07622358202934265, + 0.17028364539146423, + -2.821181535720825, + -0.1326138973236084, + 0.03186071291565895 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned above the countertop with the red bottle visible to the left of the sink. No actions have been completed yet. The gripper is open and the arm is beginning to move toward the bottle. The next action is to continue approaching the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 10 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2287536859512329, + 0.10726093500852585, + 0.16636048257350922, + -2.823268413543701, + -0.1452866494655609, + 0.010202143341302872 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned above the countertop with the red bottle visible to the left of the sink. No actions have been completed yet. The gripper is open and the arm is beginning to move toward the bottle. The next action is to continue approaching the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, move down 9 cm, tilt right 10 degrees, close gripper; then move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21717557311058044, + 0.13927799463272095, + 0.1585548222064972, + -2.837773561477661, + -0.1697533279657364, + -0.01219755969941616 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 8 cm, tilt right 10 degrees, close gripper; then move forward 1 cm, move right 5 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2156156748533249, + 0.15570566058158875, + 0.14534235000610352, + -2.866363525390625, + -0.1859365850687027, + -0.030578039586544037 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple onion": [ + 505, + 123, + 610, + 240 + ], + "bottle": [ + 36, + 274, + 155, + 553 + ], + "sink": [ + 272, + 338, + 876, + 916 + ], + "lemon": [ + 372, + 572, + 461, + 679 + ], + "carrot": [ + 847, + 757, + 993, + 861 + ], + "stove burners": [ + 149, + 292, + 357, + 499 + ] + } + } + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 7 cm, tilt right 10 degrees, close gripper; then move forward 2 cm, move right 9 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.21475380659103394, + 0.16641156375408173, + 0.12906873226165771, + -2.8969767093658447, + -0.19424603879451752, + -0.04070591181516647 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 5 cm, tilt right 10 degrees, close gripper; then move forward 5 cm, move right 15 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2136993259191513, + 0.1735738217830658, + 0.11479116976261139, + -2.918828248977661, + -0.2005106806755066, + -0.04130246117711067 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move forward 6 cm, move right 19 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21456114947795868, + 0.1783604621887207, + 0.10253320634365082, + -2.9364752769470215, + -0.200894296169281, + -0.05559176206588745 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move forward 6 cm, move right 19 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21627697348594666, + 0.18278053402900696, + 0.08926708251237869, + -2.970829963684082, + -0.20545855164527893, + -0.06749856472015381 + ], + "gripper_value": 0.9795387983322144 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 6 cm, move right 19 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 4 cm, move down 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.21705986559391022, + 0.18727627396583557, + 0.0776606947183609, + -3.0000860691070557, + -0.2079102098941803, + -0.05648993328213692 + ], + "gripper_value": 0.7903241515159607 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 19 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21843965351581573, + 0.18843336403369904, + 0.07411258667707443, + -3.0018346309661865, + -0.207421213388443, + -0.05460352078080177 + ], + "gripper_value": 0.5217453241348267 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "approach red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move right 19 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2208913415670395, + 0.1857283115386963, + 0.0743497759103775, + -2.9944844245910645, + -0.19956479966640472, + -0.07391092926263809 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "grasp and lift red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 19 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2187984138727188, + 0.1692197620868683, + 0.08311815559864044, + -3.010254383087158, + -0.14651146531105042, + -0.050963446497917175 + ], + "gripper_value": 0.365278422832489 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "grasp and lift red bottle", + "subtask_reasoning": "The robot is positioned near the red bottle on the countertop, with the sink visible to the right. No prior actions have been completed; the gripper remains open and stationary in this frame. The next action should be to move the end-effector closer to the red bottle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 17 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2300615906715393, + 0.13233046233654022, + 0.11547105759382248, + -2.9986369609832764, + -0.12354063242673874, + -0.013207606971263885 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "grasp and lift red bottle", + "subtask_reasoning": "The robot has approached the red bottle on the countertop. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a slight closing motion. The next action is to fully close the gripper to grasp the red bottle before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 14 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24400782585144043, + 0.0925714373588562, + 0.12491988390684128, + -2.9716100692749023, + -0.13024252653121948, + 0.04512907192111015 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "grasp and lift red bottle", + "subtask_reasoning": "The robot has approached the red bottle on the countertop. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a slight closing motion. The next action is to fully close the gripper to grasp the red bottle before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, move down 3 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2664613723754883, + 0.040193330496549606, + 0.12128307670354843, + -2.9552383422851562, + -0.19729308784008026, + 0.0693480372428894 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "grasp and lift red bottle", + "subtask_reasoning": "The robot has approached the red bottle on the countertop. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a slight closing motion. The next action is to fully close the gripper to grasp the red bottle before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 14, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2827335298061371, + -0.003620270173996687, + 0.09807953238487244, + -2.98009991645813, + -0.22253280878067017, + 0.08872608840465546 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 272, + 340, + 876, + 915 + ], + "stove burners": [ + 142, + 291, + 358, + 503 + ], + "purple onion": [ + 513, + 122, + 612, + 236 + ], + "carrot": [ + 847, + 757, + 993, + 862 + ] + } + } + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "lower bottle into sink", + "subtask_reasoning": "The robot has approached the red bottle on the countertop. The gripper is currently open and positioned near the bottle, with segment-level evidence indicating a slight closing motion. The next action is to fully close the gripper to grasp the red bottle before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.29538923501968384, + -0.03451693803071976, + 0.06870128959417343, + -3.0549514293670654, + -0.2322051227092743, + 0.12795139849185944 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "lower bottle into sink", + "subtask_reasoning": "The red bottle is currently held above the sink, having been lifted in the previous phase. The gripper remains closed with no closing motion detected in this segment, indicating the bottle is being maintained in a fixed grasp. The next action is to continue lowering the bottle vertically until it makes contact with the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985380291938782, + -0.03907850384712219, + 0.05892200767993927, + -3.1103570461273193, + -0.22312882542610168, + 0.1779535561800003 + ], + "gripper_value": 0.35856863856315613 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "lower bottle into sink", + "subtask_reasoning": "The red bottle is currently held above the sink, having been lifted in the previous phase. The gripper remains closed with no closing motion detected in this segment, indicating the bottle is being maintained in a fixed grasp. The next action is to continue lowering the bottle vertically until it makes contact with the sink basin." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29515013098716736, + -0.034085895866155624, + 0.05384504050016403, + -3.124189853668213, + -0.21892674267292023, + 0.20529907941818237 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red bottle into the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red bottle" + }, + { + "id": 2, + "subtask": "grasp and lift red bottle" + }, + { + "id": 3, + "subtask": "lower bottle into sink" + }, + { + "id": 4, + "subtask": "release bottle in sink" + } + ], + "subtask_name": "release bottle in sink", + "subtask_reasoning": "The red bottle is currently positioned directly over the sink basin, aligned for release. The gripper remains closed around the bottle neck, indicating the object is still held. The next action is to open the gripper to drop the bottle into the sink." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 22, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000985_ecot.json b/cot/chunk-0000/episode_0000985_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a87d2b3af9e168f3229f640045496acc0e6d2076 --- /dev/null +++ b/cot/chunk-0000/episode_0000985_ecot.json @@ -0,0 +1,3067 @@ +{ + "task_name": "episode_0000985", + "episode_json": "json/chunk-0000/episode_0000985.json", + "video_path": "videos/chunk-0000/image_0/episode_0000985.mp4", + "instruction": "Unfold the cloth from top right to bottom left.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000985.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9461709856987, + "std": 0.43137863278388977, + "delta_total": 0.005923867225646973, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94617, std=0.43138, total_delta=0.00592). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 315, + 315, + 315, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 15, + 142, + 142, + 142 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 14 + ], + [ + 3, + 15, + 17 + ], + [ + 4, + 18, + 41 + ], + [ + 5, + 42, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth corner\", \"start\": 0, \"end\": 5, \"planning\": \"Move gripper toward the top-right corner of the folded orange cloth without closing.\"},\n {\"id\": 2, \"name\": \"grasp cloth corner\", \"start\": 6, \"end\": 14, \"planning\": \"Close gripper to securely grasp the top-right corner of the cloth as evidenced by meaningful gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"reposition gripper orientation\", \"start\": 15, \"end\": 17, \"planning\": \"Adjust gripper pose in preparation for unfolding motion while maintaining grasp on the cloth corner.\"},\n {\"id\": 4, \"name\": \"unfold cloth diagonally\", \"start\": 18, \"end\": 41, \"planning\": \"Drag the grasped corner diagonally toward bottom-left to unfold the cloth across the table surface, releasing grip near end of motion.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 42, \"end\": 44, \"planning\": \"Fully open gripper to release the cloth and retreat slightly to complete the unfolding task.\"}\n ],\n \"global_plan\": \"Unfold the orange cloth by first approaching and grasping its top-right corner, then dragging it diagonally toward the bottom-left while maintaining control, finally releasing once fully spread.\",\n \"notes\": \"Gripper evidence confirms meaningful closure only in segments 2, 4, and 5 — grasp wording is justified there with image agreement. Segment 1 and 3 show no gripper closure, so contact-based terms are used. Frame coverage is contiguous and complete from 0 to 44.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth corner", + "start": 0, + "end": 5, + "planning": "Move gripper toward the top-right corner of the folded orange cloth without closing." + }, + { + "id": 2, + "name": "grasp cloth corner", + "start": 6, + "end": 14, + "planning": "Close gripper to securely grasp the top-right corner of the cloth as evidenced by meaningful gripper closure and visual contact." + }, + { + "id": 3, + "name": "reposition gripper orientation", + "start": 15, + "end": 17, + "planning": "Adjust gripper pose in preparation for unfolding motion while maintaining grasp on the cloth corner." + }, + { + "id": 4, + "name": "unfold cloth diagonally", + "start": 18, + "end": 41, + "planning": "Drag the grasped corner diagonally toward bottom-left to unfold the cloth across the table surface, releasing grip near end of motion." + }, + { + "id": 5, + "name": "release and retreat", + "start": 42, + "end": 44, + "planning": "Fully open gripper to release the cloth and retreat slightly to complete the unfolding task." + } + ], + "global_plan": "Unfold the orange cloth by first approaching and grasping its top-right corner, then dragging it diagonally toward the bottom-left while maintaining control, finally releasing once fully spread.", + "notes": "Gripper evidence confirms meaningful closure only in segments 2, 4, and 5 — grasp wording is justified there with image agreement. Segment 1 and 3 show no gripper closure, so contact-based terms are used. Frame coverage is contiguous and complete from 0 to 44." + } + }, + "episode_goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3933596611022949, + 0.09956575930118561, + 0.11113986372947693, + -3.1039206981658936, + -0.15246298909187317, + 0.46215352416038513 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action is to move closer to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.39253488183021545, + 0.09848645329475403, + 0.09307611733675003, + -3.096156120300293, + -0.11213241517543793, + 0.4655916690826416 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet. The gripper is open and approaching the top-right corner of the cloth. The next action is to move closer to grasp the corner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3978269100189209, + 0.09309403598308563, + 0.08700501918792725, + -3.117671251296997, + -0.15090063214302063, + 0.4991508722305298 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.40335118770599365, + 0.08221632242202759, + 0.0846918448805809, + -3.139026641845703, + -0.1712316870689392, + 0.52302485704422 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4065174460411072, + 0.0731675997376442, + 0.0814710408449173, + -3.1324431896209717, + -0.20218198001384735, + 0.5738716721534729 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4139956533908844, + 0.05250246077775955, + 0.07937047630548477, + -3.089158296585083, + -0.3287001848220825, + 0.6460290551185608 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 286, + 222, + 643, + 680 + ], + "ice cream cone": [ + 559, + 749, + 816, + 926 + ], + "strawberry": [ + 714, + 549, + 844, + 692 + ], + "bread roll": [ + 781, + 363, + 915, + 570 + ], + "table": [ + 17, + 110, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper open; then move forward 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4232712388038635, + 0.04396189749240875, + 0.0959840789437294, + -3.1199533939361572, + -0.383731484413147, + 0.7316356897354126 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4362410604953766, + 0.041031915694475174, + 0.10392813384532928, + -3.1394758224487305, + -0.39843764901161194, + 0.8068147301673889 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 6 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44517219066619873, + 0.03515511006116867, + 0.09959252923727036, + -3.1381189823150635, + -0.3992936313152313, + 0.8413009643554688 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, close gripper; then move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.45116835832595825, + 0.03574635088443756, + 0.08852385729551315, + -3.126152992248535, + -0.39464473724365234, + 0.8599317073822021 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot is positioned above the table with the orange cloth folded in the center. No actions have been completed yet as the gripper remains open and stationary relative to the cloth. The next step is to move the end-effector closer to the top-right corner of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, close gripper; then move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.45669254660606384, + 0.03558754920959473, + 0.08173074573278427, + -3.115006923675537, + -0.39901286363601685, + 0.8695289492607117 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the top-right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and ready to engage. The next immediate action is to close the gripper to grasp the cloth corner securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4577678143978119, + 0.03356795385479927, + 0.07614940404891968, + -3.1037700176239014, + -0.4078546464443207, + 0.8638178706169128 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the top-right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and ready to engage. The next immediate action is to close the gripper to grasp the cloth corner securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper; then move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4600257873535156, + 0.03456493839621544, + 0.07035483419895172, + -3.092292070388794, + -0.42325133085250854, + 0.850389301776886 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the top-right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and ready to engage. The next immediate action is to close the gripper to grasp the cloth corner securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 4 cm, move left 4 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4598211944103241, + 0.035960059612989426, + 0.06435378640890121, + -3.0839498043060303, + -0.43049356341362, + 0.8435956239700317 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the top-right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and ready to engage. The next immediate action is to close the gripper to grasp the cloth corner securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 7 cm, move left 5 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.45863184332847595, + 0.036219771951436996, + 0.0492323562502861, + -3.073349952697754, + -0.4221563935279846, + 0.8471710085868835 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 286, + 222, + 644, + 680 + ], + "strawberry": [ + 714, + 547, + 843, + 692 + ], + "bread roll": [ + 781, + 363, + 915, + 570 + ], + "ice cream cone": [ + 559, + 749, + 815, + 925 + ], + "table": [ + 33, + 113, + 994, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp cloth corner", + "subtask_reasoning": "The robot end-effector is positioned directly above the top-right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and ready to engage. The next immediate action is to close the gripper to grasp the cloth corner securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 9 cm, move left 6 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.45897209644317627, + 0.0374499186873436, + 0.04717715457081795, + -3.078984260559082, + -0.4353363811969757, + 0.8562347888946533 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper orientation", + "subtask_reasoning": "The robot end-effector is positioned directly above the top-right corner of the folded orange cloth. The approach phase is complete, and the gripper is currently open and ready to engage. The next immediate action is to close the gripper to grasp the cloth corner securely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 11 cm, move left 8 cm, move up 5 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4584965109825134, + 0.03689628094434738, + 0.045568566769361496, + -3.0849874019622803, + -0.43440693616867065, + 0.8591622114181519 + ], + "gripper_value": 0.1845952719449997 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper orientation", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 12 cm, move left 9 cm, move up 5 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4573976397514343, + 0.03655986487865448, + 0.047017939388751984, + -3.1210553646087646, + -0.39836350083351135, + 0.8617966175079346 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "reposition gripper orientation", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt forward 10 degrees, keep gripper closed; then move back 14 cm, move left 10 cm, move up 5 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4531717002391815, + 0.03940665349364281, + 0.05497382953763008, + 3.0973968505859375, + -0.3069363534450531, + 0.8782857060432434 + ], + "gripper_value": 0.06472665071487427 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 11 cm, move up 6 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4525895416736603, + 0.0467241033911705, + 0.08287130296230316, + 2.978400945663452, + -0.2712079882621765, + 0.9117458462715149 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move left 10 cm, move up 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4419628083705902, + 0.060514964163303375, + 0.09594450891017914, + 2.9061291217803955, + -0.23751649260520935, + 0.9278029799461365 + ], + "gripper_value": 0.06354815512895584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move left 9 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.42564305663108826, + 0.06786879152059555, + 0.0969529002904892, + 2.8762941360473633, + -0.21162673830986023, + 0.8935620784759521 + ], + "gripper_value": 0.06296365708112717 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 15 cm, move left 8 cm, move up 2 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4089464545249939, + 0.07917875796556473, + 0.08143597841262817, + 2.917548894882202, + -0.18529558181762695, + 0.8748863339424133 + ], + "gripper_value": 0.06296365708112717 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 8 cm, move up 4 cm, tilt right 20 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3864763379096985, + 0.08531513065099716, + 0.0759473517537117, + 2.9334216117858887, + -0.19484612345695496, + 0.8334044218063354 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 8 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3642600476741791, + 0.10265350341796875, + 0.08380968868732452, + 2.901951789855957, + -0.1855853796005249, + 0.8439179062843323 + ], + "gripper_value": 0.05980546772480011 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 6 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3440037965774536, + 0.1201305240392685, + 0.10141575336456299, + 2.834207057952881, + -0.15816432237625122, + 0.8391671180725098 + ], + "gripper_value": 0.05952305346727371 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move up 1 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.32990503311157227, + 0.1326766312122345, + 0.10624821484088898, + 2.797250270843506, + -0.1101207584142685, + 0.8341013789176941 + ], + "gripper_value": 0.05952305346727371 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 286, + 210, + 646, + 688 + ], + "ice cream cone": [ + 559, + 749, + 815, + 925 + ], + "strawberry": [ + 717, + 547, + 843, + 692 + ], + "bread roll": [ + 780, + 362, + 916, + 570 + ], + "table": [ + 40, + 109, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 4 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31774765253067017, + 0.14334683120250702, + 0.10537733882665634, + 2.803725004196167, + -0.07098150998353958, + 0.8513485193252563 + ], + "gripper_value": 0.05952305346727371 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 246, + 211, + 645, + 744 + ], + "ice cream cone": [ + 559, + 749, + 815, + 925 + ], + "strawberry": [ + 716, + 549, + 844, + 692 + ], + "bread roll": [ + 780, + 363, + 915, + 570 + ], + "table": [ + 39, + 108, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30684196949005127, + 0.14809760451316833, + 0.11512723565101624, + 2.791933298110962, + -0.08672808855772018, + 0.8820192813873291 + ], + "gripper_value": 0.05952305346727371 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The gripper is currently holding the top-right corner of the orange cloth, having completed the approach and grasp phases. The current subtask involves adjusting the gripper's orientation to prepare for the diagonal pull. The next action is to rotate the gripper to align with the intended unfolding direction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.29275989532470703, + 0.1514912098646164, + 0.12049295753240585, + 2.754549980163574, + -0.09373544901609421, + 0.951015055179596 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802824079990387, + 0.1490873247385025, + 0.12038128077983856, + 2.7009456157684326, + -0.11531822383403778, + 1.0557793378829956 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 3 cm, tilt left 20 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725837528705597, + 0.15030835568904877, + 0.1167542040348053, + 2.6584677696228027, + -0.11815912276506424, + 1.1459698677062988 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 3 cm, tilt left 20 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26689279079437256, + 0.15545621514320374, + 0.12119973450899124, + 2.598195791244507, + -0.09223426133394241, + 1.251213550567627 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, move down 4 cm, tilt left 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2658720910549164, + 0.16123037040233612, + 0.1201852560043335, + 2.602033853530884, + -0.05712844431400299, + 1.3708099126815796 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.26506897807121277, + 0.16432440280914307, + 0.11890815198421478, + 2.6108858585357666, + -0.025780657306313515, + 1.460326075553894 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 3 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2669501304626465, + 0.16524934768676758, + 0.1130424290895462, + 2.6739652156829834, + 0.01647760532796383, + 1.475077748298645 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 3 cm, tilt left 30 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2692965567111969, + 0.17117491364479065, + 0.10695846378803253, + 2.7311267852783203, + 0.020269714295864105, + 1.4902681112289429 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.27067288756370544, + 0.17541003227233887, + 0.09929093718528748, + 2.8031539916992188, + -0.03996392339468002, + 1.4060410261154175 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.26763638854026794, + 0.1844366490840912, + 0.09227048605680466, + 2.8677053451538086, + -0.06362273544073105, + 1.3935396671295166 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2627662420272827, + 0.19039523601531982, + 0.0956168919801712, + 2.91917085647583, + -0.05935053154826164, + 1.370761513710022 + ], + "gripper_value": 0.059241458773612976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2530139088630676, + 0.1985742747783661, + 0.08884415775537491, + 2.99542498588562, + -0.05486883223056793, + 1.345533013343811 + ], + "gripper_value": 0.08157449960708618 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "ice cream cone": [ + 559, + 749, + 815, + 926 + ], + "orange cloth": [ + 84, + 229, + 641, + 740 + ], + "strawberry": [ + 716, + 548, + 844, + 692 + ], + "bread roll": [ + 780, + 363, + 915, + 571 + ], + "table": [ + 34, + 112, + 994, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, tilt left 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2476285994052887, + 0.20824162662029266, + 0.08377499878406525, + 3.0785915851593018, + -0.07052736729383469, + 1.2966071367263794 + ], + "gripper_value": 0.2385561764240265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "unfold cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 41 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 41 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.24264833331108093, + 0.212650865316391, + 0.08411026000976562, + -3.1329329013824463, + -0.08504847437143326, + 1.267439365386963 + ], + "gripper_value": 0.5354229807853699 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is currently holding the top-right corner of the orange cloth, which remains partially folded on the table. The gripper is closed and stable, indicating a secure grasp. The next action should involve dragging the cloth diagonally toward the bottom-left to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.24006500840187073, + 0.2099083513021469, + 0.08445867151021957, + -3.0434155464172363, + -0.07248380035161972, + 1.2253788709640503 + ], + "gripper_value": 0.8083573579788208 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded on the table, indicating the pulling action is complete. The gripper is open and positioned above the cloth, confirming the release phase. The robot should now retreat upward or away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.24922595918178558, + 0.20295800268650055, + 0.08458812534809113, + -3.0452613830566406, + -0.085178904235363, + 1.1567802429199219 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the orange cloth from its folded state on the table by grasping and pulling it from the top right corner towards the bottom left, resulting in a fully spread-out cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth corner" + }, + { + "id": 2, + "subtask": "grasp cloth corner" + }, + { + "id": 3, + "subtask": "reposition gripper orientation" + }, + { + "id": 4, + "subtask": "unfold cloth diagonally" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The orange cloth is fully unfolded on the table, indicating the pulling action is complete. The gripper is open and positioned above the cloth, confirming the release phase. The robot should now retreat upward or away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 42, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000986_ecot.json b/cot/chunk-0000/episode_0000986_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..50e55ea1ad0aaab8f603c97647934034d9180350 --- /dev/null +++ b/cot/chunk-0000/episode_0000986_ecot.json @@ -0,0 +1,1326 @@ +{ + "task_name": "episode_0000986", + "episode_json": "json/chunk-0000/episode_0000986.json", + "video_path": "videos/chunk-0000/image_0/episode_0000986.mp4", + "instruction": "Move the cloth to the top left of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000986.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013275146484375, + "std": 0.0004189359024167061, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00042, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 12 + ], + [ + 3, + 13, + 13 + ], + [ + 4, + 14, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector down toward the cloth on the table surface without grasping.\"},\n {\"id\": 2, \"name\": \"make contact and nudge\", \"start\": 9, \"end\": 13, \"planning\": \"Establish contact with cloth and begin nudging it diagonally toward top-left using gripper fingers.\"},\n {\"id\": 3, \"name\": \"slide cloth to target zone\", \"start\": 14, \"end\": 21, \"planning\": \"Continue sliding cloth across table surface toward top-left corner while maintaining light contact.\"}\n ],\n \"global_plan\": \"The robot approaches the cloth, makes contact, and slides it across the table to the top-left without lifting or grasping, consistent with open-gripper manipulation.\",\n \"notes\": \"Gripper remains fully open throughout; no grasp or lift occurs. Motion is purely planar sliding via contact. Segment boundaries respected but merged into three natural phases for clarity and coverage.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 8, + "planning": "Move end-effector down toward the cloth on the table surface without grasping." + }, + { + "id": 2, + "name": "make contact and nudge", + "start": 9, + "end": 13, + "planning": "Establish contact with cloth and begin nudging it diagonally toward top-left using gripper fingers." + }, + { + "id": 3, + "name": "slide cloth to target zone", + "start": 14, + "end": 21, + "planning": "Continue sliding cloth across table surface toward top-left corner while maintaining light contact." + } + ], + "global_plan": "The robot approaches the cloth, makes contact, and slides it across the table to the top-left without lifting or grasping, consistent with open-gripper manipulation.", + "notes": "Gripper remains fully open throughout; no grasp or lift occurs. Motion is purely planar sliding via contact. Segment boundaries respected but merged into three natural phases for clarity and coverage." + } + }, + "episode_goal": "Move the cloth to the top left of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2879146635532379, + -0.02712717279791832, + 0.0821416825056076, + -3.120157241821289, + -0.26396599411964417, + -0.2422880381345749 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28554168343544006, + -0.026647550985217094, + 0.07414821535348892, + -3.125683546066284, + -0.2384113222360611, + -0.23849643766880035 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28133636713027954, + -0.030894137918949127, + 0.05279541015625, + -3.140479326248169, + -0.2099032998085022, + -0.2464117407798767 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, keep gripper open; then move forward 3 cm, move left 11 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772390842437744, + -0.04025326669216156, + 0.026787037029862404, + -3.130884885787964, + -0.17979037761688232, + -0.27196428179740906 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth visible below. No contact has been made yet, and the gripper remains open. The next action is to move the end-effector closer to the cloth to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, move down 5 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 14 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27537715435028076, + -0.046614211052656174, + 0.004746698774397373, + -3.0656447410583496, + -0.13871006667613983, + -0.32261785864830017 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table with the gripper open. The approach phase is underway as the arm moves toward the cloth, but no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 17 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2701420783996582, + -0.04429477080702782, + -0.011749566532671452, + -3.0833404064178467, + -0.12376488745212555, + -0.29236993193626404 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 310, + 522, + 704, + 906 + ], + "table": [ + 5, + 272, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table with the gripper open. The approach phase is underway as the arm moves toward the cloth, but no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 17 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27151575684547424, + -0.03895146772265434, + -0.023539897054433823, + -3.0996506214141846, + -0.10558905452489853, + -0.2753065228462219 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table with the gripper open. The approach phase is underway as the arm moves toward the cloth, but no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 17 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2791813313961029, + -0.026632852852344513, + -0.02539210207760334, + -3.1186230182647705, + -0.10997076332569122, + -0.23341628909111023 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table with the gripper open. The approach phase is underway as the arm moves toward the cloth, but no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, keep gripper open; then move forward 3 cm, move left 17 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869570255279541, + -0.014655732549726963, + -0.02649873122572899, + -3.139216423034668, + -0.10396547615528107, + -0.20730355381965637 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table with the gripper open. The approach phase is underway as the arm moves toward the cloth, but no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 3 cm, move left 17 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 3 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.29620611667633057, + -0.0012329531600698829, + -0.026973597705364227, + 3.1409010887145996, + -0.09066701680421829, + -0.16956749558448792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table with the gripper open. The approach phase is underway as the arm moves toward the cloth, but no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 17 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move right 4 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3106270432472229, + 0.019905252382159233, + -0.026183325797319412, + 3.1394712924957275, + -0.09419280290603638, + -0.10628227889537811 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is positioned above the green cloth on the table with the gripper open. The approach phase is underway as the arm moves toward the cloth, but no contact has been made yet. The next action should be to lower the end-effector to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move up 1 cm, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32711079716682434, + 0.0652305856347084, + -0.02392209693789482, + 3.137622356414795, + -0.11289916932582855, + -0.005841059610247612 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing or nudging action rather than grasping. The next step is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.33044981956481934, + 0.1062699407339096, + -0.022945402190089226, + 3.1403329372406006, + -0.11424452811479568, + 0.09187772870063782 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cloth": [ + 294, + 349, + 556, + 726 + ], + "table": [ + 5, + 256, + 995, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing or nudging action rather than grasping. The next step is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32740241289138794, + 0.1392713040113449, + -0.020134029909968376, + -3.136455774307251, + -0.11611195653676987, + 0.16481614112854004 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "make contact and nudge", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing or nudging action rather than grasping. The next step is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open; then move forward 1 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.323218435049057, + 0.1680857539176941, + -0.018398499116301537, + 3.13698410987854, + -0.1301841288805008, + 0.24542051553726196 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "table": [ + 5, + 275, + 995, + 994 + ], + "cloth": [ + 201, + 299, + 428, + 666 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing or nudging action rather than grasping. The next step is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3228745460510254, + 0.16330382227897644, + -0.018337050452828407, + 3.1194474697113037, + -0.11701439321041107, + 0.229147270321846 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing or nudging action rather than grasping. The next step is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 11 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33086925745010376, + 0.15000002086162567, + -0.008754080161452293, + 3.093238592147827, + -0.1418551802635193, + 0.20455481112003326 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot's end-effector is in contact with the cloth on the table, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing or nudging action rather than grasping. The next step is to continue sliding the cloth toward the top-left corner of the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3399161398410797, + 0.13700997829437256, + 0.007091452833265066, + 3.0724027156829834, + -0.17924512922763824, + 0.18317827582359314 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the cloth on the table, having already approached and nudged it. The gripper remains open with no closing evidence, indicating sliding rather than grasping. The next action is to continue pushing the cloth toward the top-left target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.33923256397247314, + 0.13445092737674713, + 0.027317224070429802, + 3.0866010189056396, + -0.18785053491592407, + 0.17359523475170135 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the cloth on the table, having already approached and nudged it. The gripper remains open with no closing evidence, indicating sliding rather than grasping. The next action is to continue pushing the cloth toward the top-left target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.33851560950279236, + 0.13158564269542694, + 0.05480905994772911, + 3.0890066623687744, + -0.22303184866905212, + 0.16277839243412018 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the cloth on the table, having already approached and nudged it. The gripper remains open with no closing evidence, indicating sliding rather than grasping. The next action is to continue pushing the cloth toward the top-left target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33757874369621277, + 0.13048693537712097, + 0.08184726536273956, + 3.1051127910614014, + -0.28684666752815247, + 0.15956832468509674 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the cloth on the table, having already approached and nudged it. The gripper remains open with no closing evidence, indicating sliding rather than grasping. The next action is to continue pushing the cloth toward the top-left target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3300856053829193, + 0.12522254884243011, + 0.08742111921310425, + 3.1141881942749023, + -0.291041761636734, + 0.1556934267282486 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact and nudge" + }, + { + "id": 3, + "subtask": "slide cloth to target zone" + } + ], + "subtask_name": "slide cloth to target zone", + "subtask_reasoning": "The robot is in contact with the cloth on the table, having already approached and nudged it. The gripper remains open with no closing evidence, indicating sliding rather than grasping. The next action is to continue pushing the cloth toward the top-left target zone." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000987_ecot.json b/cot/chunk-0000/episode_0000987_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d9232f2b6b614cd823a1c5578b4ca9491482bf32 --- /dev/null +++ b/cot/chunk-0000/episode_0000987_ecot.json @@ -0,0 +1,1801 @@ +{ + "task_name": "episode_0000987", + "episode_json": "json/chunk-0000/episode_0000987.json", + "video_path": "videos/chunk-0000/image_0/episode_0000987.mp4", + "instruction": "Move the cloth from bottom to top of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 28, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000987.json" + }, + "fps": 5.0, + "T_eff": 28, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006613731384277344, + "std": 0.0003298419760540128, + "delta_total": 0.0006613731384277344, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00033, total_delta=0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 27 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the orange cloth at bottom of table without grasping.\"},\n {\"id\": 2, \"name\": \"make contact with cloth\", \"start\": 7, \"end\": 14, \"planning\": \"Lower and position gripper to make gentle contact with cloth surface for manipulation.\"},\n {\"id\": 3, \"name\": \"drag cloth upward\", \"start\": 15, \"end\": 22, \"planning\": \"Slide the cloth across the table surface from bottom toward top using continuous contact.\"},\n {\"id\": 4, \"name\": \"reposition cloth at target\", \"start\": 23, \"end\": 27, \"planning\": \"Adjust final position of cloth near top of table and release contact.\"}\n ],\n \"global_plan\": \"Manipulate the orange cloth from bottom to top of table via contact-based sliding without grasping, as gripper remains open throughout.\",\n \"notes\": \"Gripper never closes meaningfully (delta < 0.001), so all actions are contact-based: approach, contact, drag, reposition. No lift or place inferred.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the orange cloth at bottom of table without grasping." + }, + { + "id": 2, + "name": "make contact with cloth", + "start": 7, + "end": 14, + "planning": "Lower and position gripper to make gentle contact with cloth surface for manipulation." + }, + { + "id": 3, + "name": "drag cloth upward", + "start": 15, + "end": 22, + "planning": "Slide the cloth across the table surface from bottom toward top using continuous contact." + }, + { + "id": 4, + "name": "reposition cloth at target", + "start": 23, + "end": 27, + "planning": "Adjust final position of cloth near top of table and release contact." + } + ], + "global_plan": "Manipulate the orange cloth from bottom to top of table via contact-based sliding without grasping, as gripper remains open throughout.", + "notes": "Gripper never closes meaningfully (delta < 0.001), so all actions are contact-based: approach, contact, drag, reposition. No lift or place inferred." + } + }, + "episode_goal": "Move the cloth from bottom to top of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.16339066624641418, + 0.03333741053938866, + 0.07765801250934601, + -2.7951693534851074, + -0.8466656804084778, + -0.4109469950199127 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving closer to make contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 1 cm, tilt forward 30 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.16243091225624084, + 0.03354369476437569, + 0.07637283205986023, + -2.797636032104492, + -0.8405159711837769, + -0.40343376994132996 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving closer to make contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 3 cm, move down 1 cm, tilt forward 30 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.17273911833763123, + 0.03566310927271843, + 0.07605578005313873, + -2.8673207759857178, + -0.7770212888717651, + -0.3209736943244934 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot's end-effector is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving closer to make contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move down 1 cm, tilt forward 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.18466828763484955, + 0.03366286680102348, + 0.08493372797966003, + -2.91157865524292, + -0.7567734122276306, + -0.25553566217422485 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving the gripper closer to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 2 cm, tilt forward 20 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.19320760667324066, + 0.03788008540868759, + 0.09135406464338303, + -2.9271559715270996, + -0.7308573722839355, + -0.21316222846508026 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving the gripper closer to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 3 cm, tilt forward 20 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2094642072916031, + 0.04499860480427742, + 0.08569411188364029, + -2.9483683109283447, + -0.6397245526313782, + -0.1638575941324234 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow sponge": [ + 509, + 712, + 676, + 892 + ], + "green ball": [ + 537, + 364, + 664, + 492 + ], + "orange cloth": [ + 150, + 429, + 504, + 992 + ], + "blue cup": [ + 591, + 428, + 697, + 611 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving the gripper closer to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22221551835536957, + 0.053986210376024246, + 0.06763479858636856, + -2.9381771087646484, + -0.5254432559013367, + -0.15874679386615753 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot arm is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving the gripper closer to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 4 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23140881955623627, + 0.05900561809539795, + 0.0652022585272789, + -2.957192897796631, + -0.4275386929512024, + -0.1630403697490692 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving the gripper closer to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23015901446342468, + 0.06342325359582901, + 0.059681251645088196, + -2.9752612113952637, + -0.3911679685115814, + -0.1447111964225769 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving the gripper closer to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23012962937355042, + 0.06903877854347229, + 0.054915156215429306, + -2.976069688796997, + -0.38310834765434265, + -0.12881167232990265 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot arm is positioned near the orange cloth at the bottom of the table, with the gripper open and no contact yet established. The subtask of approaching the cloth is in progress, and the next action should involve moving the gripper closer to make contact with the cloth for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, keep gripper open; then move forward 5 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.23091329634189606, + 0.07323971390724182, + 0.04280105605721474, + -2.969963550567627, + -0.36025455594062805, + -0.09907662868499756 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move forward 6 cm, move left 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2372186779975891, + 0.07379793375730515, + 0.031013229861855507, + -2.9403204917907715, + -0.356840044260025, + -0.10122159123420715 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move forward 7 cm, move left 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23872409760951996, + 0.07556834816932678, + 0.02319413051009178, + -2.928112030029297, + -0.3489130735397339, + -0.09233970195055008 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move forward 9 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2445465624332428, + 0.07778892666101456, + 0.020171312615275383, + -2.8991570472717285, + -0.3580423891544342, + -0.0866299569606781 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 10 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25663021206855774, + 0.08224472403526306, + 0.020088639110326767, + -2.8664329051971436, + -0.38618943095207214, + -0.0768452137708664 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "make contact with cloth", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move forward 10 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26854774355888367, + 0.08892425894737244, + 0.01673305779695511, + -2.8423001766204834, + -0.3983393609523773, + -0.04664377495646477 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 189, + 377, + 524, + 882 + ], + "green ball": [ + 538, + 365, + 664, + 492 + ], + "yellow sponge": [ + 510, + 712, + 676, + 893 + ], + "blue cup": [ + 592, + 429, + 697, + 611 + ], + "cardboard box": [ + 231, + 5, + 761, + 373 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27853086590766907, + 0.09429902583360672, + 0.0160888209939003, + -2.8255960941314697, + -0.4097641110420227, + -0.02719913050532341 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2920863628387451, + 0.10113205015659332, + 0.015648558735847473, + -2.810649871826172, + -0.42235881090164185, + 0.005734733305871487 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot has approached the orange cloth at the bottom of the table and is now making contact with it using the open gripper. No grasping has occurred as the gripper remains fully open. The next action is to initiate sliding the cloth upward along the table surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3027031421661377, + 0.10658204555511475, + 0.015111458487808704, + -2.8055031299591064, + -0.423092782497406, + 0.0338771678507328 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the orange cloth at the bottom of the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, confirming a contact-based drag operation. The next action is to slide the cloth upward along the table surface toward the top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31451669335365295, + 0.11118754744529724, + 0.014751039445400238, + -2.8056726455688477, + -0.42226341366767883, + 0.06322944909334183 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the orange cloth at the bottom of the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, confirming a contact-based drag operation. The next action is to slide the cloth upward along the table surface toward the top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3285086750984192, + 0.11883896589279175, + 0.013908431865274906, + -2.807645082473755, + -0.41861286759376526, + 0.10226386040449142 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the orange cloth at the bottom of the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, confirming a contact-based drag operation. The next action is to slide the cloth upward along the table surface toward the top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34143874049186707, + 0.12647834420204163, + 0.01392816100269556, + -2.8042869567871094, + -0.4134691059589386, + 0.13659259676933289 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the orange cloth at the bottom of the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, confirming a contact-based drag operation. The next action is to slide the cloth upward along the table surface toward the top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3560676574707031, + 0.13490229845046997, + 0.01371380127966404, + -2.807450294494629, + -0.4096240997314453, + 0.17574042081832886 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "drag cloth upward", + "subtask_reasoning": "The robot end-effector is in contact with the orange cloth at the bottom of the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, confirming a contact-based drag operation. The next action is to slide the cloth upward along the table surface toward the top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open; then move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3646681606769562, + 0.1401011347770691, + 0.0136311836540699, + -2.8222789764404297, + -0.39127635955810547, + 0.20295004546642303 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot end-effector is in contact with the orange cloth at the bottom of the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, confirming a contact-based drag operation. The next action is to slide the cloth upward along the table surface toward the top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36025741696357727, + 0.14257024228572845, + 0.014444956555962563, + -2.8688759803771973, + -0.37368044257164, + 0.2364187240600586 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot end-effector is in contact with the orange cloth at the bottom of the table, having completed the approach and initial contact phases. The gripper remains open with no closing evidence, confirming a contact-based drag operation. The next action is to slide the cloth upward along the table surface toward the top." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34348830580711365, + 0.13853105902671814, + 0.0185539647936821, + -2.930098533630371, + -0.3220619857311249, + 0.2371114045381546 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which has been partially moved toward the top of the table. The gripper remains open, indicating no grasping has occurred. The next action should continue sliding the cloth upward to reach the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3324635624885559, + 0.1355602890253067, + 0.03321157395839691, + -2.994306802749634, + -0.30911165475845337, + 0.23577530682086945 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green ball": [ + 538, + 364, + 664, + 491 + ], + "yellow sponge": [ + 509, + 712, + 676, + 893 + ], + "blue cup": [ + 592, + 429, + 697, + 610 + ], + "orange cloth": [ + 202, + 274, + 503, + 662 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which has been partially moved toward the top of the table. The gripper remains open, indicating no grasping has occurred. The next action should continue sliding the cloth upward to reach the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3247801959514618, + 0.1350502073764801, + 0.05728592351078987, + -3.0516061782836914, + -0.33847951889038086, + 0.24580498039722443 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth from bottom to top of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "make contact with cloth" + }, + { + "id": 3, + "subtask": "drag cloth upward" + }, + { + "id": 4, + "subtask": "reposition cloth at target" + } + ], + "subtask_name": "reposition cloth at target", + "subtask_reasoning": "The robot's end-effector is in contact with the orange cloth, which has been partially moved toward the top of the table. The gripper remains open, indicating no grasping has occurred. The next action should continue sliding the cloth upward to reach the target position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 27 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 27 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000988_ecot.json b/cot/chunk-0000/episode_0000988_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..308deaf5743572f6e07a76d3c7e3ead3ad972229 --- /dev/null +++ b/cot/chunk-0000/episode_0000988_ecot.json @@ -0,0 +1,1583 @@ +{ + "task_name": "episode_0000988", + "episode_json": "json/chunk-0000/episode_0000988.json", + "video_path": "videos/chunk-0000/image_0/episode_0000988.mp4", + "instruction": "Move the blue spoon to the left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000988.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.6109338998794556, + "std": 0.285382479429245, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.61093, std=0.28538, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 7, + 107, + 107, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 119, + 119, + 119, + 119, + 119 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 7 + ], + [ + 3, + 8, + 9 + ], + [ + 4, + 10, + 11 + ], + [ + 5, + 12, + 18 + ], + [ + 6, + 19, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue spoon\", \"start\": 0, \"end\": 6, \"planning\": \"Move the end-effector down toward the blue spoon while closing the gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make contact with spoon\", \"start\": 7, \"end\": 9, \"planning\": \"Establish stable contact with the blue spoon using the closed gripper without lifting.\"},\n {\"id\": 3, \"name\": \"drag spoon leftward\", \"start\": 10, \"end\": 18, \"planning\": \"Slide the blue spoon across the stovetop surface toward the left burner while maintaining gripper contact.\"},\n {\"id\": 4, \"name\": \"position over left burner\", \"start\": 19, \"end\": 23, \"planning\": \"Lift and reposition the spoon slightly to center it over the left burner, then release grip.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, make contact, drag it leftward across the stovetop, and finally position it over the left burner before releasing.\",\n \"notes\": \"Gripper closes meaningfully in segment 1 (frames 0-6), remains closed during dragging (segments 3-5, frames 8-18), and opens in segment 6 (frames 19-23) to release. No lifting occurs until final positioning phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue spoon", + "start": 0, + "end": 6, + "planning": "Move the end-effector down toward the blue spoon while closing the gripper to prepare for contact." + }, + { + "id": 2, + "name": "make contact with spoon", + "start": 7, + "end": 9, + "planning": "Establish stable contact with the blue spoon using the closed gripper without lifting." + }, + { + "id": 3, + "name": "drag spoon leftward", + "start": 10, + "end": 18, + "planning": "Slide the blue spoon across the stovetop surface toward the left burner while maintaining gripper contact." + }, + { + "id": 4, + "name": "position over left burner", + "start": 19, + "end": 23, + "planning": "Lift and reposition the spoon slightly to center it over the left burner, then release grip." + } + ], + "global_plan": "Approach the blue spoon, make contact, drag it leftward across the stovetop, and finally position it over the left burner before releasing.", + "notes": "Gripper closes meaningfully in segment 1 (frames 0-6), remains closed during dragging (segments 3-5, frames 8-18), and opens in segment 6 (frames 19-23) to release. No lifting occurs until final positioning phase." + } + }, + "episode_goal": "Move the blue spoon to the left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2771528661251068, + 0.12365376949310303, + 0.08442966639995575, + 3.0035417079925537, + -0.26896774768829346, + 1.7906832695007324 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon visible on the left side. No contact has been made yet as the gripper is open and the arm is hovering. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2750585675239563, + 0.12279576808214188, + 0.0755821019411087, + 3.0336503982543945, + -0.2653350830078125, + 1.7830886840820312 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon visible on the left side. No contact has been made yet as the gripper is open and the arm is hovering. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 8 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.27454909682273865, + 0.12087593972682953, + 0.058595530688762665, + 3.0591979026794434, + -0.25476697087287903, + 1.753556251525879 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot is positioned above the stovetop with the blue spoon visible on the left side. No contact has been made yet as the gripper is open and the arm is hovering. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.27562087774276733, + 0.11996728181838989, + 0.03917873650789261, + 3.067687749862671, + -0.21343831717967987, + 1.7129822969436646 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the blue spoon which lies between a silver spoon and a toy carrot. The gripper is currently open, indicating that the approach phase is ongoing and no contact has been made yet. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 4 cm, close gripper; then move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move up 1 cm, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27876225113868713, + 0.12151980400085449, + 0.016544727608561516, + 3.0804686546325684, + -0.17790068686008453, + 1.6749106645584106 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 367, + 276, + 451, + 416 + ], + "sponge": [ + 362, + 422, + 641, + 740 + ], + "sink": [ + 594, + 497, + 992, + 988 + ], + "frying pan": [ + 10, + 256, + 628, + 772 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the blue spoon which lies between a silver spoon and a toy carrot. The gripper is currently open, indicating that the approach phase is ongoing and no contact has been made yet. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, move down 1 cm, rotate counterclockwise 50 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2797268331050873, + 0.12577573955059052, + 0.0010041272034868598, + 3.105527639389038, + -0.13013450801372528, + 1.6455761194229126 + ], + "gripper_value": 0.9484345316886902 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the blue spoon which lies between a silver spoon and a toy carrot. The gripper is currently open, indicating that the approach phase is ongoing and no contact has been made yet. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.28338339924812317, + 0.12764790654182434, + -0.0006061217281967402, + 3.102787971496582, + -0.12807518243789673, + 1.642962098121643 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "approach blue spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the blue spoon which lies between a silver spoon and a toy carrot. The gripper is currently open, indicating that the approach phase is ongoing and no contact has been made yet. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 70 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28166043758392334, + 0.12790121138095856, + -0.0005600712029263377, + 3.1160287857055664, + -0.13354313373565674, + 1.6303536891937256 + ], + "gripper_value": 0.4085940718650818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot arm is positioned above the stovetop, hovering near the blue spoon which lies between a silver spoon and a toy carrot. The gripper is currently open, indicating that the approach phase is ongoing and no contact has been made yet. The next action is to lower the end-effector to make contact with the blue spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 4 cm, rotate counterclockwise 70 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738148868083954, + 0.12914615869522095, + 0.003737159539014101, + -3.1169140338897705, + -0.1419745534658432, + 1.5869009494781494 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot arm has approached the blue spoon on the stovetop and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish physical contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, move down 4 cm, rotate counterclockwise 70 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27340418100357056, + 0.13715429604053497, + 0.02275339514017105, + -3.1232986450195312, + -0.19195584952831268, + 1.505027413368225 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "make contact with spoon", + "subtask_reasoning": "The robot arm has approached the blue spoon on the stovetop and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish physical contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 60 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27239227294921875, + 0.15589386224746704, + 0.04553546383976936, + 3.129283905029297, + -0.24270568788051605, + 1.4078699350357056 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 367, + 276, + 451, + 416 + ], + "sink": [ + 593, + 497, + 992, + 988 + ], + "sponge": [ + 363, + 422, + 641, + 739 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot arm has approached the blue spoon on the stovetop and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish physical contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 4 cm, rotate counterclockwise 60 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28479138016700745, + 0.17586177587509155, + 0.06588169187307358, + 3.1276698112487793, + -0.23926126956939697, + 1.151416301727295 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot arm has approached the blue spoon on the stovetop and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish physical contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 6 cm, rotate counterclockwise 50 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.298664391040802, + 0.19046835601329803, + 0.06288343667984009, + -3.087454080581665, + -0.23140884935855865, + 0.8807758688926697 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot arm has approached the blue spoon on the stovetop and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish physical contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 6 cm, rotate counterclockwise 30 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.31296077370643616, + 0.19706401228904724, + 0.05215241014957428, + -3.0408594608306885, + -0.2278088629245758, + 0.625968337059021 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot arm has approached the blue spoon on the stovetop and is now positioned directly above it. The gripper is open and ready to make contact. The next action is to lower the gripper slightly to establish physical contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 5 cm, rotate counterclockwise 20 degrees, open gripper; then move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166036903858185, + 0.19382131099700928, + 0.039366669952869415, + -3.033339262008667, + -0.21302936971187592, + 0.45738622546195984 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot has made contact with the blue spoon and is currently dragging it leftward across the stovetop. The gripper is closed, indicating a firm hold on the spoon. The next action is to continue moving the spoon toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31200721859931946, + 0.18927866220474243, + 0.0213527400046587, + -3.024229049682617, + -0.13758453726768494, + 0.3416871726512909 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot has made contact with the blue spoon and is currently dragging it leftward across the stovetop. The gripper is closed, indicating a firm hold on the spoon. The next action is to continue moving the spoon toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, open gripper; then move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.31594058871269226, + 0.18999798595905304, + 0.009085793048143387, + -3.0167243480682373, + -0.09145931899547577, + 0.2605638802051544 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot has made contact with the blue spoon and is currently dragging it leftward across the stovetop. The gripper is closed, indicating a firm hold on the spoon. The next action is to continue moving the spoon toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper; then move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.322426974773407, + 0.19547361135482788, + 0.00638350285589695, + -3.0041232109069824, + -0.10710734874010086, + 0.22675630450248718 + ], + "gripper_value": 0.3918617069721222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot has made contact with the blue spoon and is currently dragging it leftward across the stovetop. The gripper is closed, indicating a firm hold on the spoon. The next action is to continue moving the spoon toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32629096508026123, + 0.19795352220535278, + 0.003080588299781084, + -3.0027947425842285, + -0.10964243859052658, + 0.23667007684707642 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "drag spoon leftward", + "subtask_reasoning": "The robot has made contact with the blue spoon and is currently dragging it leftward across the stovetop. The gripper is closed, indicating a firm hold on the spoon. The next action is to continue moving the spoon toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32454895973205566, + 0.20266546308994293, + 0.004873499274253845, + -2.9649462699890137, + -0.10955875366926193, + 0.2739817798137665 + ], + "gripper_value": 0.7768828272819519 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot has made contact with the blue spoon and is currently dragging it leftward across the stovetop. The gripper is closed, indicating a firm hold on the spoon. The next action is to continue moving the spoon toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32178011536598206, + 0.20342549681663513, + 0.006470426917076111, + -2.931386709213257, + -0.11215948313474655, + 0.307133287191391 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The robot has made contact with the blue spoon and is currently dragging it leftward across the stovetop. The gripper is closed, indicating a firm hold on the spoon. The next action is to continue moving the spoon toward the left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3212278485298157, + 0.19888000190258026, + 0.01474603358656168, + -2.9628536701202393, + -0.13451038300991058, + 0.3313460350036621 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The blue spoon is currently positioned over the left burner, with the gripper maintaining contact as indicated by the segment-level gripper evidence. The spoon has been successfully dragged across the stovetop to this location. The next action is to release the spoon to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32034561038017273, + 0.20023676753044128, + 0.03516615554690361, + -3.0098350048065186, + -0.1565932333469391, + 0.3432709872722626 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The blue spoon is currently positioned over the left burner, with the gripper maintaining contact as indicated by the segment-level gripper evidence. The spoon has been successfully dragged across the stovetop to this location. The next action is to release the spoon to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3256250321865082, + 0.2009056657552719, + 0.06122638285160065, + -3.0322883129119873, + -0.21415658295154572, + 0.3528350591659546 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 368, + 276, + 451, + 415 + ], + "sink": [ + 592, + 498, + 992, + 990 + ], + "spatula": [ + 142, + 244, + 274, + 471 + ], + "sponge": [ + 361, + 422, + 641, + 738 + ], + "frying pan": [ + 10, + 245, + 628, + 779 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue spoon to the left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue spoon" + }, + { + "id": 2, + "subtask": "make contact with spoon" + }, + { + "id": 3, + "subtask": "drag spoon leftward" + }, + { + "id": 4, + "subtask": "position over left burner" + } + ], + "subtask_name": "position over left burner", + "subtask_reasoning": "The blue spoon is currently positioned over the left burner, with the gripper maintaining contact as indicated by the segment-level gripper evidence. The spoon has been successfully dragged across the stovetop to this location. The next action is to release the spoon to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000990_ecot.json b/cot/chunk-0000/episode_0000990_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..80cd4f776a3c49f46cd650cf07400dfbe729b28a --- /dev/null +++ b/cot/chunk-0000/episode_0000990_ecot.json @@ -0,0 +1,2820 @@ +{ + "task_name": "episode_0000990", + "episode_json": "json/chunk-0000/episode_0000990.json", + "video_path": "videos/chunk-0000/image_0/episode_0000990.mp4", + "instruction": "Put the cube on top of the cylinder.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000990.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.4953135848045349, + "std": 0.23790249228477478, + "delta_total": 0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.49531, std=0.23790, total_delta=0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 20 + ], + [ + 3, + 21, + 32 + ], + [ + 4, + 33, + 37 + ], + [ + 5, + 38, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp cube\", \"start\": 0, \"end\": 17, \"planning\": \"Move gripper to cube location and close fingers to secure grasp, confirmed by significant gripper closure and visual alignment.\"},\n {\"id\": 2, \"name\": \"lift and position above cylinder\", \"start\": 18, \"end\": 32, \"planning\": \"Lift grasped cube and maneuver it directly above the cylinder stack, maintaining grip while adjusting pose for placement.\"},\n {\"id\": 3, \"name\": \"release cube onto cylinder\", \"start\": 33, \"end\": 37, \"planning\": \"Open gripper to release cube onto cylinder top, verified by gripper opening motion and visual confirmation of cube resting on stack.\"},\n {\"id\": 4, \"name\": \"retreat from placement zone\", \"start\": 38, \"end\": 44, \"planning\": \"Withdraw gripper away from completed stack to avoid disturbance, with no further manipulation or contact.\"}\n ],\n \"global_plan\": \"Grasp cube from table, lift and align over cylinder stack, release cube precisely on top, then retreat to clear workspace.\",\n \"notes\": \"Segment 2 (frames 18-20) shows minimal gripper change but is part of continuous lifting/positioning phase after grasp; merged into subtask 2 for natural motion flow. Segment 5 (38-44) has no gripper activity — correctly labeled as retreat without grasp/place verbs.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp cube", + "start": 0, + "end": 17, + "planning": "Move gripper to cube location and close fingers to secure grasp, confirmed by significant gripper closure and visual alignment." + }, + { + "id": 2, + "name": "lift and position above cylinder", + "start": 18, + "end": 32, + "planning": "Lift grasped cube and maneuver it directly above the cylinder stack, maintaining grip while adjusting pose for placement." + }, + { + "id": 3, + "name": "release cube onto cylinder", + "start": 33, + "end": 37, + "planning": "Open gripper to release cube onto cylinder top, verified by gripper opening motion and visual confirmation of cube resting on stack." + }, + { + "id": 4, + "name": "retreat from placement zone", + "start": 38, + "end": 44, + "planning": "Withdraw gripper away from completed stack to avoid disturbance, with no further manipulation or contact." + } + ], + "global_plan": "Grasp cube from table, lift and align over cylinder stack, release cube precisely on top, then retreat to clear workspace.", + "notes": "Segment 2 (frames 18-20) shows minimal gripper change but is part of continuous lifting/positioning phase after grasp; merged into subtask 2 for natural motion flow. Segment 5 (38-44) has no gripper activity — correctly labeled as retreat without grasp/place verbs." + } + }, + "episode_goal": "Place the cube on top of the cylinder.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069078326225281, + -0.052244193851947784, + 0.049832530319690704, + 3.130699396133423, + 0.1176861971616745, + 0.09489195048809052 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026641011238098, + -0.051826026290655136, + 0.039520539343357086, + 3.138091564178467, + 0.15222348272800446, + 0.09676799178123474 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30188873410224915, + -0.05338752269744873, + 0.0309394933283329, + 3.1272594928741455, + 0.1736988127231598, + 0.10433613508939743 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 122, + 207, + 995, + 995 + ], + "brown object": [ + 735, + 555, + 821, + 681 + ], + "wooden wall": [ + 502, + 2, + 998, + 587 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.30182725191116333, + -0.055714938789606094, + 0.021681951358914375, + 3.1167969703674316, + 0.1887645125389099, + 0.10881353914737701 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.30444902181625366, + -0.05706915259361267, + 0.01548917405307293, + 3.106121063232422, + 0.1985573172569275, + 0.10806848853826523 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3046796917915344, + -0.05775625258684158, + 0.007821480743587017, + 3.104905605316162, + 0.21833719313144684, + 0.09866321086883545 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30410057306289673, + -0.05789099633693695, + -0.0006660945364274085, + 3.10713529586792, + 0.24065233767032623, + 0.09118708968162537 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30853110551834106, + -0.0585273802280426, + 0.0007980284281075001, + 3.1027889251708984, + 0.22847986221313477, + 0.08421292155981064 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, facing a stack of blocks and a separate cylinder. No actions have been completed yet as the gripper remains fully open. The next step is to move the gripper down and close it to grasp the cube on top of the stack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move up 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3054422438144684, + -0.0585651732981205, + -0.008543056435883045, + 3.109163522720337, + 0.25682395696640015, + 0.082722507417202 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 15 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30476194620132446, + -0.056958794593811035, + -0.012438151985406876, + 3.110462188720703, + 0.26642489433288574, + 0.09589885175228119 + ], + "gripper_value": 0.6861988306045532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 15 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3066740334033966, + -0.056394416838884354, + -0.013572358526289463, + 3.110684394836426, + 0.25796982645988464, + 0.11124014854431152 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 15 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30650848150253296, + -0.05587819963693619, + -0.013859128579497337, + 3.113222122192383, + 0.2582241892814636, + 0.12243587523698807 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 15 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30308419466018677, + -0.052672166377305984, + -0.003422859590500593, + 3.134546995162964, + 0.2380387783050537, + 0.14492084085941315 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, move up 14 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064476251602173, + -0.04933823645114899, + 0.04303760826587677, + 3.133592128753662, + 0.12819281220436096, + 0.1885322481393814 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move up 10 cm, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3040170669555664, + -0.04427464306354523, + 0.08514775335788727, + 3.115537643432617, + 0.054163943976163864, + 0.2128302901983261 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 119, + 199, + 995, + 995 + ], + "brown object": [ + 734, + 554, + 821, + 681 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 8 cm, move up 5 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2954659163951874, + -0.026220684871077538, + 0.11463208496570587, + 3.128326892852783, + 0.04668843746185303, + 0.26045042276382446 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 6 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28695210814476013, + -0.004976489581167698, + 0.12564587593078613, + -3.103306293487549, + 0.07212076336145401, + 0.375221848487854 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27314233779907227, + 0.019602002575993538, + 0.1409567892551422, + -3.115111827850342, + 0.050407033413648605, + 0.47363486886024475 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "approach and grasp cube", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26291877031326294, + 0.03375338390469551, + 0.1400621235370636, + -3.1142022609710693, + 0.07506050169467926, + 0.5374038219451904 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 121, + 200, + 995, + 995 + ], + "brown object": [ + 735, + 554, + 821, + 682 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2564522624015808, + 0.04239513725042343, + 0.13490594923496246, + -3.1263015270233154, + 0.10475175827741623, + 0.5698258280754089 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25279560685157776, + 0.04813901335000992, + 0.12915700674057007, + -3.137025833129883, + 0.12465263158082962, + 0.582758367061615 + ], + "gripper_value": 0.5100988745689392 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2539384961128235, + 0.04919429123401642, + 0.10842718183994293, + -3.1078202724456787, + 0.20205366611480713, + 0.5844020843505859 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.25873640179634094, + 0.05015423521399498, + 0.10636869072914124, + -3.102325201034546, + 0.2033269852399826, + 0.5821873545646667 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641768455505371, + 0.05091000720858574, + 0.09945119917392731, + -3.0959906578063965, + 0.2221333384513855, + 0.5774964690208435 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2679802179336548, + 0.051244620233774185, + 0.10045883059501648, + -3.1037673950195312, + 0.21177509427070618, + 0.5742104053497314 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot arm is positioned near the cube on the table, with the gripper open and ready to grasp. No prior actions have been completed in this subtask. The next action should be to close the gripper to securely grasp the cube." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27034950256347656, + 0.05136115476489067, + 0.10001339763402939, + -3.119342088699341, + 0.20396111905574799, + 0.5713369846343994 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2725546956062317, + 0.05441340431571007, + 0.10260791331529617, + -3.127598762512207, + 0.19352629780769348, + 0.5756218433380127 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2721375524997711, + 0.05664726719260216, + 0.10264484584331512, + -3.1325795650482178, + 0.19502407312393188, + 0.5826441645622253 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2717975676059723, + 0.06042559817433357, + 0.10047437250614166, + -3.13822603225708, + 0.20129232108592987, + 0.591926097869873 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27228692173957825, + 0.06006930395960808, + 0.09784601628780365, + -3.1394338607788086, + 0.20800355076789856, + 0.5900712609291077 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.27302250266075134, + 0.06003038212656975, + 0.09295625984668732, + -3.138698101043701, + 0.2185889184474945, + 0.5837360620498657 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 9 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.27509355545043945, + 0.059677768498659134, + 0.09402734041213989, + -3.1403956413269043, + 0.21278028190135956, + 0.5818032622337341 + ], + "gripper_value": 0.5110665559768677 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 11 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.27558302879333496, + 0.0577690526843071, + 0.09085771441459656, + -3.138302803039551, + 0.22633062303066254, + 0.5720701217651367 + ], + "gripper_value": 0.5393473505973816 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "lift and position above cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 12 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2774108350276947, + 0.056657273322343826, + 0.09115588665008545, + 3.124551773071289, + 0.22429899871349335, + 0.5727766156196594 + ], + "gripper_value": 0.8696252703666687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release cube onto cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 11 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 33, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.277191698551178, + 0.05627622455358505, + 0.09095743298530579, + 3.1175594329833984, + 0.2278975248336792, + 0.5744870901107788 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 119, + 249, + 995, + 995 + ], + "brown object": [ + 735, + 554, + 821, + 682 + ], + "yellow block": [ + 420, + 302, + 498, + 426 + ], + "blue block": [ + 373, + 336, + 519, + 529 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release cube onto cylinder", + "subtask_reasoning": "The robot has successfully grasped the yellow cube and lifted it above the blue cylinder. The gripper is holding the cube steady in mid-air, aligned over the target. The next action is to lower the cube precisely onto the top surface of the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 33, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.27670401334762573, + 0.05486588552594185, + 0.09175009280443192, + 3.1096506118774414, + 0.23545603454113007, + 0.5796087384223938 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release cube onto cylinder", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the cylinder stack. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the cube onto the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 33, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.27546465396881104, + 0.05319208279252052, + 0.11011692136526108, + 3.097914218902588, + 0.19131936132907867, + 0.5739997625350952 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release cube onto cylinder", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the cylinder stack. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the cube onto the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 33, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2807658612728119, + 0.04671480506658554, + 0.1248757541179657, + 3.1252009868621826, + 0.1500934511423111, + 0.5150445699691772 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "release cube onto cylinder", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the cylinder stack. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the cube onto the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 33, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2817577123641968, + 0.012593084946274757, + 0.13108082115650177, + -3.0880517959594727, + 0.15526142716407776, + 0.35791248083114624 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the cylinder stack. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the cube onto the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 10 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2864108979701996, + -0.02922244369983673, + 0.12793688476085663, + -3.098546028137207, + 0.11519891768693924, + 0.19096657633781433 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the cylinder stack. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the cube onto the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.28925174474716187, + -0.07831777632236481, + 0.10565308481454849, + -3.0809433460235596, + 0.1363486796617508, + 0.07938431203365326 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The cube is currently held by the gripper and positioned directly above the cylinder stack. The gripper is closed, indicating the object is still secured. The next action is to open the gripper to release the cube onto the cylinder." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903245985507965, + -0.10115573555231094, + 0.08572939038276672, + -3.110180139541626, + 0.18653857707977295, + 0.051865071058273315 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 121, + 237, + 995, + 995 + ], + "brown object": [ + 735, + 554, + 821, + 681 + ], + "blue block": [ + 373, + 339, + 519, + 525 + ], + "wooden wall": [ + 511, + 3, + 997, + 587 + ] + } + } + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The cube is successfully placed on top of the cylinder stack, and the gripper is fully open and clear of the objects. The robot has completed the placement and is now retreating from the zone. The next action is to continue moving away to fully clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.29263824224472046, + -0.10285823047161102, + 0.07914871722459793, + -3.1226871013641357, + 0.1877116560935974, + 0.05254538357257843 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The cube is successfully placed on top of the cylinder stack, and the gripper is fully open and clear of the objects. The robot has completed the placement and is now retreating from the zone. The next action is to continue moving away to fully clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926256060600281, + -0.09639184176921844, + 0.07642852514982224, + -3.107107400894165, + 0.1874552220106125, + 0.08092477172613144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The cube is successfully placed on top of the cylinder stack, and the gripper is fully open and clear of the objects. The robot has completed the placement and is now retreating from the zone. The next action is to continue moving away to fully clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.2900668978691101, + -0.08825801312923431, + 0.07679679244756699, + -3.0913937091827393, + 0.17497657239437103, + 0.10200072079896927 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the cube on top of the cylinder." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp cube" + }, + { + "id": 2, + "subtask": "lift and position above cylinder" + }, + { + "id": 3, + "subtask": "release cube onto cylinder" + }, + { + "id": 4, + "subtask": "retreat from placement zone" + } + ], + "subtask_name": "retreat from placement zone", + "subtask_reasoning": "The cube is successfully placed on top of the cylinder stack, and the gripper is fully open and clear of the objects. The robot has completed the placement and is now retreating from the zone. The next action is to continue moving away to fully clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 38, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000991_ecot.json b/cot/chunk-0000/episode_0000991_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dfc8968a1cf0121ba16d500718eaa89dbba1f6 --- /dev/null +++ b/cot/chunk-0000/episode_0000991_ecot.json @@ -0,0 +1,1898 @@ +{ + "task_name": "episode_0000991", + "episode_json": "json/chunk-0000/episode_0000991.json", + "video_path": "videos/chunk-0000/image_0/episode_0000991.mp4", + "instruction": "Put chocolate into bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000991.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.4238663911819458, + "std": 0.19620200991630554, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42387, std=0.19620, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 2 + ], + [ + 3, + 3, + 15 + ], + [ + 4, + 16, + 20 + ], + [ + 5, + 21, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach chocolate\", \"start\": 0, \"end\": 2, \"planning\": \"Move end-effector toward the chocolate bar on the table without grasping.\"},\n {\"id\": 2, \"name\": \"nudge chocolate into bowl\", \"start\": 3, \"end\": 15, \"planning\": \"Use contact to push or slide the chocolate bar toward and into the metal bowl.\"},\n {\"id\": 3, \"name\": \"reposition above bowl\", \"start\": 16, \"end\": 20, \"planning\": \"Lift and reposition end-effector over the bowl after nudging, maintaining open gripper.\"},\n {\"id\": 4, \"name\": \"grasp and release chocolate in bowl\", \"start\": 21, \"end\": 28, \"planning\": \"Close gripper to secure chocolate inside bowl, then open to release and retreat slightly.\"}\n ],\n \"global_plan\": \"Approach chocolate, nudge it into the bowl using contact, reposition above bowl, then grasp and release to finalize placement.\",\n \"notes\": \"Gripper remains open during segments 1-3; meaningful closing only occurs in segment 5 (frames 21-28), permitting grasp/release wording there. Segment 4 shows no gripper change — treated as repositioning without manipulation.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach chocolate", + "start": 0, + "end": 2, + "planning": "Move end-effector toward the chocolate bar on the table without grasping." + }, + { + "id": 2, + "name": "nudge chocolate into bowl", + "start": 3, + "end": 15, + "planning": "Use contact to push or slide the chocolate bar toward and into the metal bowl." + }, + { + "id": 3, + "name": "reposition above bowl", + "start": 16, + "end": 20, + "planning": "Lift and reposition end-effector over the bowl after nudging, maintaining open gripper." + }, + { + "id": 4, + "name": "grasp and release chocolate in bowl", + "start": 21, + "end": 28, + "planning": "Close gripper to secure chocolate inside bowl, then open to release and retreat slightly." + } + ], + "global_plan": "Approach chocolate, nudge it into the bowl using contact, reposition above bowl, then grasp and release to finalize placement.", + "notes": "Gripper remains open during segments 1-3; meaningful closing only occurs in segment 5 (frames 21-28), permitting grasp/release wording there. Segment 4 shows no gripper change — treated as repositioning without manipulation." + } + }, + "episode_goal": "Place the chocolate bar into the metal bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31343111395835876, + 0.08596272766590118, + 0.07899877429008484, + -3.086000442504883, + 0.0173557810485363, + -0.024182049557566643 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "approach chocolate", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible in front and the metal bowl to the right. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating readiness to move toward the chocolate. The next action should be to translate the end-effector closer to the chocolate bar to prepare for contact-based nudging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 9 cm, move down 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3094499409198761, + 0.08384422212839127, + 0.0676262378692627, + -3.101968765258789, + 0.049693480134010315, + -0.023048926144838333 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "approach chocolate", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 9 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2891693711280823, + 0.0525943748652935, + 0.05934690311551094, + 3.137606620788574, + 0.06389852613210678, + -0.08063121140003204 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "approach chocolate", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, keep gripper open; then move right 9 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767651081085205, + 0.020371248945593834, + 0.05721930414438248, + -3.1383068561553955, + 0.04621940851211548, + -0.1507832407951355 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move down 5 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.26731163263320923, + -0.012977727688848972, + 0.0539277046918869, + -3.1172173023223877, + 0.03459888696670532, + -0.22193801403045654 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 6 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2662604749202728, + -0.0435405857861042, + 0.05206052213907242, + -3.099713087081909, + 0.011713369749486446, + -0.261618047952652 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2616528570652008, + -0.06596089899539948, + 0.04288402944803238, + -3.0897953510284424, + 0.03199201822280884, + -0.2923237681388855 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 510, + 220, + 763, + 459 + ], + "blue knife": [ + 88, + 408, + 203, + 591 + ], + "orange napkin": [ + 19, + 327, + 309, + 587 + ], + "red can": [ + 699, + 45, + 783, + 271 + ], + "corn": [ + 768, + 129, + 919, + 339 + ] + } + } + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625790238380432, + -0.07436814159154892, + 0.03196645900607109, + -3.0871379375457764, + 0.05274740606546402, + -0.28008389472961426 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, close gripper; then move forward 3 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26766276359558105, + -0.07683420181274414, + 0.02045835554599762, + -3.0885443687438965, + 0.07553236186504364, + -0.2397909313440323 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot is positioned above the table with the chocolate bar visible nearby. No contact or grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the chocolate bar to prepare for nudging it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, close gripper; then move forward 6 cm, move left 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2715061902999878, + -0.0713730975985527, + 0.012452000752091408, + -3.0836265087127686, + 0.0895005464553833, + -0.1989438533782959 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, close gripper; then move forward 9 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27206951379776, + -0.06605160981416702, + 0.00913432240486145, + -3.065026044845581, + 0.09734361618757248, + -0.18141761422157288 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 10 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.27320969104766846, + -0.06494725495576859, + 0.006402665749192238, + -3.0508668422698975, + 0.0966644361615181, + -0.18417423963546753 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719612717628479, + -0.06873078644275665, + 0.004713478963822126, + -3.0462968349456787, + 0.1010022759437561, + -0.20650500059127808 + ], + "gripper_value": 0.6450598835945129 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27220603823661804, + -0.0686059221625328, + 0.004116329364478588, + -3.0463240146636963, + 0.1036076620221138, + -0.21973225474357605 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2687447965145111, + -0.0703011155128479, + 0.0047415499575436115, + -3.067737340927124, + 0.10939673334360123, + -0.2397705465555191 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.27065399289131165, + -0.06792295724153519, + 0.02570241317152977, + -3.118318557739258, + 0.07044058293104172, + -0.262665718793869 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "nudge chocolate into bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2901690602302551, + -0.05293017998337746, + 0.07016149908304214, + 3.120249032974243, + -0.038975417613983154, + -0.25285211205482483 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 511, + 218, + 762, + 439 + ], + "blue knife": [ + 88, + 406, + 207, + 592 + ], + "orange napkin": [ + 19, + 328, + 309, + 587 + ], + "white appliance": [ + 270, + 2, + 670, + 236 + ], + "red can": [ + 692, + 45, + 782, + 272 + ], + "corn": [ + 767, + 129, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "reposition above bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3200852870941162, + -0.03976061940193176, + 0.1013440489768982, + 3.081739664077759, + -0.12415185570716858, + -0.20162127912044525 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "reposition above bowl", + "subtask_reasoning": "The robot's end-effector is positioned directly above the chocolate bar on the table, with the gripper open and ready for contact. The approach phase is complete, and the robot is now aligned to push the chocolate toward the metal bowl. The next action is to make contact and nudge the chocolate into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed; then move back 3 cm, move left 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35206952691078186, + -0.033454447984695435, + 0.09610296785831451, + 3.096691131591797, + -0.11102879792451859, + -0.18439514935016632 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "reposition above bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl containing the chocolate bar, with the gripper open. The previous nudging action successfully moved the chocolate into the bowl. The next step is to lower the gripper slightly to ensure the chocolate is fully settled or to prepare for a final grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed; then move back 5 cm, move left 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3766860067844391, + -0.034243952482938766, + 0.08581249415874481, + 3.1157822608947754, + -0.0901826024055481, + -0.16100911796092987 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "reposition above bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl containing the chocolate bar, with the gripper open. The previous nudging action successfully moved the chocolate into the bowl. The next step is to lower the gripper slightly to ensure the chocolate is fully settled or to prepare for a final grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39033880829811096, + -0.045775461941957474, + 0.0715150311589241, + 3.1410140991210938, + -0.06762618571519852, + -0.1684836894273758 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "reposition above bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl containing the chocolate bar, with the gripper open. The previous nudging action successfully moved the chocolate into the bowl. The next step is to lower the gripper slightly to ensure the chocolate is fully settled or to prepare for a final grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move left 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3988928496837616, + -0.04536669701337814, + 0.057117633521556854, + -3.1010894775390625, + -0.029725687578320503, + -0.16099338233470917 + ], + "gripper_value": 0.5789291858673096 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl containing the chocolate bar, with the gripper open. The previous nudging action successfully moved the chocolate into the bowl. The next step is to lower the gripper slightly to ensure the chocolate is fully settled or to prepare for a final grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.39981046319007874, + -0.04046334698796272, + 0.034814223647117615, + -3.071148633956909, + 0.02798323519527912, + -0.1486821323633194 + ], + "gripper_value": 0.6420453786849976 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl containing the chocolate bar, with the gripper open. The previous nudging action successfully moved the chocolate into the bowl. The next step is to lower the gripper slightly to ensure the chocolate is fully settled or to prepare for a final grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3972169756889343, + -0.03574483096599579, + 0.024627262726426125, + -3.044424057006836, + 0.0660417452454567, + -0.14921589195728302 + ], + "gripper_value": 0.7874543070793152 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The robot arm is positioned directly above the metal bowl containing the chocolate bar, with the gripper open. The previous nudging action successfully moved the chocolate into the bowl. The next step is to lower the gripper slightly to ensure the chocolate is fully settled or to prepare for a final grasp if needed." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39750605821609497, + -0.03380431607365608, + 0.02476271614432335, + -3.036386251449585, + 0.0667092576622963, + -0.15563955903053284 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The chocolate bar is already inside the metal bowl, and the gripper is open and positioned above it. The subtask involves releasing or confirming placement after a prior grasp. The next action is to ensure the chocolate remains in the bowl and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3956764042377472, + -0.03164266422390938, + 0.022385668009519577, + -3.037322521209717, + 0.06466583162546158, + -0.1766747683286667 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The chocolate bar is already inside the metal bowl, and the gripper is open and positioned above it. The subtask involves releasing or confirming placement after a prior grasp. The next action is to ensure the chocolate remains in the bowl and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3899611234664917, + -0.0296829454600811, + 0.060169950127601624, + -3.0538454055786133, + -0.030132612213492393, + -0.18900997936725616 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 513, + 228, + 765, + 477 + ], + "white appliance": [ + 271, + 2, + 630, + 224 + ], + "blue knife": [ + 88, + 407, + 205, + 591 + ], + "red can": [ + 691, + 49, + 784, + 274 + ], + "orange napkin": [ + 17, + 327, + 308, + 586 + ], + "corn": [ + 768, + 129, + 918, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The chocolate bar is already inside the metal bowl, and the gripper is open and positioned above it. The subtask involves releasing or confirming placement after a prior grasp. The next action is to ensure the chocolate remains in the bowl and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3730308413505554, + -0.021941477432847023, + 0.08937128633260727, + -3.064364194869995, + -0.09037426859140396, + -0.18946145474910736 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The chocolate bar is already inside the metal bowl, and the gripper is open and positioned above it. The subtask involves releasing or confirming placement after a prior grasp. The next action is to ensure the chocolate remains in the bowl and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.35292544960975647, + -0.01680569164454937, + 0.0862734466791153, + -3.064978837966919, + -0.06804750859737396, + -0.1928517073392868 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the chocolate bar into the metal bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach chocolate" + }, + { + "id": 2, + "subtask": "nudge chocolate into bowl" + }, + { + "id": 3, + "subtask": "reposition above bowl" + }, + { + "id": 4, + "subtask": "grasp and release chocolate in bowl" + } + ], + "subtask_name": "grasp and release chocolate in bowl", + "subtask_reasoning": "The chocolate bar is already inside the metal bowl, and the gripper is open and positioned above it. The subtask involves releasing or confirming placement after a prior grasp. The next action is to ensure the chocolate remains in the bowl and retract the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000994_ecot.json b/cot/chunk-0000/episode_0000994_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..0edf0952688df2376e4fdb3a2250cd9503f131e9 --- /dev/null +++ b/cot/chunk-0000/episode_0000994_ecot.json @@ -0,0 +1,3457 @@ +{ + "task_name": "episode_0000994", + "episode_json": "json/chunk-0000/episode_0000994.json", + "video_path": "videos/chunk-0000/image_0/episode_0000994.mp4", + "instruction": "Fold the cloth from top to bottom.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 45, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000994.json" + }, + "fps": 5.0, + "T_eff": 45, + "gripper_behavior_summary": { + "available": true, + "range": 0.9509469866752625, + "std": 0.4059073328971863, + "delta_total": -0.12000024318695068, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95095, std=0.40591, total_delta=-0.12000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 120, + 120, + 120, + 120, + 120, + 120, + 120, + 127, + 127, + 127, + 127, + 131, + 131, + 131, + 131, + 131, + 231, + 231, + 231, + 231, + 231, + 231, + 231, + 243, + 243 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 19 + ], + [ + 3, + 20, + 26 + ], + [ + 4, + 27, + 30 + ], + [ + 5, + 31, + 35 + ], + [ + 6, + 36, + 42 + ], + [ + 7, + 43, + 44 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top edge of cloth\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the top edge of the blue cloth without grasping, as gripper remains fully open throughout segment.\"},\n {\"id\": 2, \"name\": \"reposition above cloth center\", \"start\": 8, \"end\": 19, \"planning\": \"Adjust position laterally and vertically to align over central region of cloth in preparation for folding motion.\"},\n {\"id\": 3, \"name\": \"grasp and lift top edge\", \"start\": 20, \"end\": 26, \"planning\": \"Close gripper to grasp top edge of cloth and lift slightly, confirmed by significant gripper closure and minimal motion during hold phase.\"},\n {\"id\": 4, \"name\": \"drag cloth downward\", \"start\": 27, \"end\": 30, \"planning\": \"Pull cloth downward along table surface while maintaining grip, initiating fold from top to bottom.\"},\n {\"id\": 5, \"name\": \"release and retreat after fold\", \"start\": 31, \"end\": 35, \"planning\": \"Open gripper to release cloth after dragging, then begin retreating upward and backward from folded position.\"},\n {\"id\": 6, \"name\": \"final adjustment and stabilization\", \"start\": 36, \"end\": 42, \"planning\": \"Make minor positional corrections to ensure folded cloth lies flat and stable on table surface.\"},\n {\"id\": 7, \"name\": \"confirm fold completion with gripper open\", \"start\": 43, \"end\": 44, \"planning\": \"Hold final pose with gripper fully open to verify successful top-to-bottom fold without further manipulation.\"}\n ],\n \"global_plan\": \"Fold the blue cloth from top to bottom by approaching, grasping the top edge, dragging it downward across the table, releasing, and confirming the fold with a final stabilized pose.\",\n \"notes\": \"Gripper evidence strictly followed: no grasp claims in segments 1, 2, 4, 6 where gripper remained open or showed no meaningful closure; grasp/hold used only in segments 3, 5, 7 where gripper closure was significant and visually consistent with object interaction.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top edge of cloth", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the top edge of the blue cloth without grasping, as gripper remains fully open throughout segment." + }, + { + "id": 2, + "name": "reposition above cloth center", + "start": 8, + "end": 19, + "planning": "Adjust position laterally and vertically to align over central region of cloth in preparation for folding motion." + }, + { + "id": 3, + "name": "grasp and lift top edge", + "start": 20, + "end": 26, + "planning": "Close gripper to grasp top edge of cloth and lift slightly, confirmed by significant gripper closure and minimal motion during hold phase." + }, + { + "id": 4, + "name": "drag cloth downward", + "start": 27, + "end": 30, + "planning": "Pull cloth downward along table surface while maintaining grip, initiating fold from top to bottom." + }, + { + "id": 5, + "name": "release and retreat after fold", + "start": 31, + "end": 35, + "planning": "Open gripper to release cloth after dragging, then begin retreating upward and backward from folded position." + }, + { + "id": 6, + "name": "final adjustment and stabilization", + "start": 36, + "end": 42, + "planning": "Make minor positional corrections to ensure folded cloth lies flat and stable on table surface." + }, + { + "id": 7, + "name": "confirm fold completion with gripper open", + "start": 43, + "end": 44, + "planning": "Hold final pose with gripper fully open to verify successful top-to-bottom fold without further manipulation." + } + ], + "global_plan": "Fold the blue cloth from top to bottom by approaching, grasping the top edge, dragging it downward across the table, releasing, and confirming the fold with a final stabilized pose.", + "notes": "Gripper evidence strictly followed: no grasp claims in segments 1, 2, 4, 6 where gripper remained open or showed no meaningful closure; grasp/hold used only in segments 3, 5, 7 where gripper closure was significant and visually consistent with object interaction." + } + }, + "episode_goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3158291280269623, + 0.0771758109331131, + 0.17281977832317352, + -3.0922114849090576, + 0.03171863779425621, + 0.643227219581604 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the top edge. No contact or grasping has occurred yet as the gripper remains fully open and the arm is still moving into position. The next action is to continue lowering and aligning the gripper with the top edge of the cloth for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move down 4 cm, tilt left 30 degrees, tilt back 30 degrees, rotate counterclockwise 80 degrees, keep gripper open; then move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31580814719200134, + 0.07742024958133698, + 0.16066421568393707, + -3.074962854385376, + 0.06793080270290375, + 0.6378121972084045 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the top edge. No contact or grasping has occurred yet as the gripper remains fully open and the arm is still moving into position. The next action is to continue lowering and aligning the gripper with the top edge of the cloth for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move down 3 cm, tilt left 40 degrees, tilt back 30 degrees, rotate counterclockwise 80 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166334331035614, + 0.08656106144189835, + 0.15352046489715576, + -3.024881362915039, + 0.06699834018945694, + 0.5524214506149292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with the gripper open, initiating the approach toward the top edge. No contact or grasping has occurred yet as the gripper remains fully open and the arm is still moving into position. The next action is to continue lowering and aligning the gripper with the top edge of the cloth for imminent contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move down 2 cm, tilt left 40 degrees, tilt back 30 degrees, rotate counterclockwise 70 degrees, keep gripper open; then move forward 1 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31899315118789673, + 0.09450553357601166, + 0.14742371439933777, + -2.989893674850464, + 0.07245781272649765, + 0.41969040036201477 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move down 1 cm, tilt left 30 degrees, tilt back 30 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move forward 2 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33156800270080566, + 0.10789067298173904, + 0.14589275419712067, + -2.8833999633789062, + 0.053319912403821945, + 0.183786541223526 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move down 1 cm, tilt left 20 degrees, tilt back 40 degrees, rotate counterclockwise 50 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34308406710624695, + 0.1056225448846817, + 0.14190222322940826, + -2.766906499862671, + -0.04905611649155617, + -0.06710271537303925 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 878, + 437, + 996, + 577 + ], + "blue towel": [ + 6, + 289, + 710, + 920 + ], + "computer tower": [ + 531, + 22, + 823, + 277 + ], + "wooden table": [ + 3, + 169, + 996, + 994 + ], + "green ball": [ + 738, + 712, + 913, + 925 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 30 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35466575622558594, + 0.09954525530338287, + 0.1450377106666565, + -2.684460401535034, + -0.22038058936595917, + -0.33863452076911926 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3661055564880371, + 0.11753372848033905, + 0.13201220333576202, + -2.6034412384033203, + -0.35876691341400146, + -0.5929473042488098 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "approach top edge of cloth", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt back 10 degrees, keep gripper open; then move forward 3 cm, move left 6 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37299424409866333, + 0.12195480614900589, + 0.13553407788276672, + -2.557556629180908, + -0.413175106048584, + -0.6958203315734863 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3731197118759155, + 0.13110627233982086, + 0.1328551024198532, + -2.5499610900878906, + -0.4137660264968872, + -0.7098709940910339 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 5 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3759729862213135, + 0.14095529913902283, + 0.1260707825422287, + -2.5513877868652344, + -0.3879617750644684, + -0.7033231258392334 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38129425048828125, + 0.15457050502300262, + 0.11477233469486237, + -2.5450823307037354, + -0.3299432098865509, + -0.6768415570259094 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3868681788444519, + 0.16616693139076233, + 0.1049533486366272, + -2.541696786880493, + -0.2899361252784729, + -0.6535629630088806 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 878, + 437, + 996, + 578 + ], + "blue towel": [ + 6, + 289, + 709, + 919 + ], + "green ball": [ + 738, + 713, + 913, + 926 + ], + "wooden table": [ + 3, + 159, + 996, + 994 + ], + "computer tower": [ + 530, + 21, + 824, + 275 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the blue cloth with its gripper open, approaching the top edge. No grasping has occurred yet, as the gripper remains fully open and no contact is visible. The next action should be to lower the gripper slightly to make contact with the top edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39194709062576294, + 0.17333489656448364, + 0.09791772067546844, + -2.539487361907959, + -0.26431867480278015, + -0.638992965221405 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.39595621824264526, + 0.1791161447763443, + 0.09753639996051788, + -2.5310001373291016, + -0.24835453927516937, + -0.6289297342300415 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3958166539669037, + 0.1800737828016281, + 0.09189455956220627, + -2.5441782474517822, + -0.2345600128173828, + -0.6162641048431396 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, close gripper; then open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39901822805404663, + 0.1816769242286682, + 0.09657293558120728, + -2.5340163707733154, + -0.24168062210083008, + -0.6086836457252502 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3984743356704712, + 0.18274478614330292, + 0.08965884149074554, + -2.5456628799438477, + -0.2236129194498062, + -0.599065363407135 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40028366446495056, + 0.18511438369750977, + 0.09168693423271179, + -2.544830083847046, + -0.2235092967748642, + -0.5886863470077515 + ], + "gripper_value": 0.9206693768501282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.40006718039512634, + 0.18454056978225708, + 0.08707734197378159, + -2.5560195446014404, + -0.21599139273166656, + -0.585119903087616 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "reposition above cloth center", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, tilt right 10 degrees, open gripper; then close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4010773301124573, + 0.1859891563653946, + 0.08619192242622375, + -2.563302755355835, + -0.20773941278457642, + -0.5760985016822815 + ], + "gripper_value": 0.32678350806236267 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 878, + 437, + 996, + 577 + ], + "computer tower": [ + 554, + 24, + 826, + 277 + ], + "wooden table": [ + 4, + 158, + 996, + 995 + ], + "green ball": [ + 738, + 713, + 913, + 926 + ], + "blue towel": [ + 9, + 273, + 696, + 892 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "grasp and lift top edge", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt right 10 degrees, open gripper; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3993668556213379, + 0.18653814494609833, + 0.08510693162679672, + -2.57069730758667, + -0.19810490310192108, + -0.5667580366134644 + ], + "gripper_value": 0.1302075982093811 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "grasp and lift top edge", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3980998992919922, + 0.18688224256038666, + 0.08518372476100922, + -2.5793750286102295, + -0.18931125104427338, + -0.5654855966567993 + ], + "gripper_value": 0.05324139446020126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "grasp and lift top edge", + "subtask_reasoning": "The robot is positioned above the center of the blue cloth with the gripper open, having completed the approach to the top edge. The current subtask involves repositioning to prepare for grasping the top edge. The next action is to move the gripper closer to the top edge of the cloth to initiate the grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, open gripper; then move down 1 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3982246220111847, + 0.18581806123256683, + 0.08681859821081161, + -2.5907037258148193, + -0.18184985220432281, + -0.5684329867362976 + ], + "gripper_value": 0.0498691126704216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "grasp and lift top edge", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move down 1 cm, close gripper; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39827674627304077, + 0.18684308230876923, + 0.0888778567314148, + -2.5937891006469727, + -0.17722536623477936, + -0.5662679076194763 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "grasp and lift top edge", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move down 1 cm, close gripper; then move back 1 cm, move right 3 cm, move up 3 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.39911147952079773, + 0.18297936022281647, + 0.08895406872034073, + -2.6197152137756348, + -0.19307449460029602, + -0.5635709762573242 + ], + "gripper_value": 0.2111179232597351 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "grasp and lift top edge", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move down 1 cm, close gripper; then move back 3 cm, move right 7 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.4036659002304077, + 0.18314270675182343, + 0.09187362343072891, + -2.628108263015747, + -0.1913013905286789, + -0.5751094222068787 + ], + "gripper_value": 0.46716928482055664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "grasp and lift top edge", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move down 1 cm, close gripper; then move back 5 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.40643179416656494, + 0.18487410247325897, + 0.08494017273187637, + -2.651867389678955, + -0.16641560196876526, + -0.5745580196380615 + ], + "gripper_value": 0.7816973924636841 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 5 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 4 cm, move right 5 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.4062524139881134, + 0.18588688969612122, + 0.0851588249206543, + -2.6557865142822266, + -0.1614479124546051, + -0.5712800621986389 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 5 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 7 cm, move right 8 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.4091585874557495, + 0.18701998889446259, + 0.0828092098236084, + -2.6664257049560547, + -0.1510399580001831, + -0.5659134387969971 + ], + "gripper_value": 0.9560673832893372 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 11 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.40853822231292725, + 0.18594805896282196, + 0.07959392666816711, + -2.6846354007720947, + -0.1407448798418045, + -0.5696821808815002 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "drag cloth downward", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 12 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 27, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.4084933400154114, + 0.18593059480190277, + 0.07890649884939194, + -2.685887336730957, + -0.13984118402004242, + -0.5695071816444397 + ], + "gripper_value": 0.39099013805389404 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "release and retreat after fold", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 13 cm, move right 13 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.40688738226890564, + 0.18394052982330322, + 0.07726207375526428, + -2.6962406635284424, + -0.14069496095180511, + -0.572830855846405 + ], + "gripper_value": 0.18743279576301575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "release and retreat after fold", + "subtask_reasoning": "The robot is positioned above the top edge of the blue cloth, having completed the approach and repositioning steps. The gripper is open and ready to grasp. The next action is to close the gripper to secure the top edge of the cloth for lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 10 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 14 cm, move right 14 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.4013634920120239, + 0.17740291357040405, + 0.08169939368963242, + -2.70302414894104, + -0.16466771066188812, + -0.5832159519195557 + ], + "gripper_value": 0.09326785057783127 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "release and retreat after fold", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 16 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.39375627040863037, + 0.1572636067867279, + 0.10486004501581192, + -2.707791328430176, + -0.2244824767112732, + -0.613632082939148 + ], + "gripper_value": 0.0822562649846077 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "release and retreat after fold", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 16 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.37917470932006836, + 0.11946021765470505, + 0.11890742927789688, + -2.721708297729492, + -0.25436335802078247, + -0.6856301426887512 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 878, + 437, + 996, + 577 + ], + "blue towel": [ + 18, + 228, + 695, + 851 + ], + "wooden table": [ + 4, + 171, + 995, + 994 + ], + "computer tower": [ + 526, + 21, + 814, + 275 + ], + "green ball": [ + 739, + 713, + 913, + 926 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "release and retreat after fold", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, keep gripper closed; then move back 16 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537839949131012, + 0.08570726215839386, + 0.11977057158946991, + -2.7375175952911377, + -0.2389160394668579, + -0.7522432804107666 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "final adjustment and stabilization", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 16 cm, move right 14 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3159515857696533, + 0.035069722682237625, + 0.10023342072963715, + -2.759506940841675, + -0.1595732718706131, + -0.8460027575492859 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "final adjustment and stabilization", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 9 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820168435573578, + 0.009269005618989468, + 0.09481966495513916, + -2.744725227355957, + -0.12592005729675293, + -0.9073556065559387 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "final adjustment and stabilization", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 6 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2505614757537842, + -0.019703064113855362, + 0.09727677702903748, + -2.747101068496704, + -0.13188622891902924, + -0.9804269671440125 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "final adjustment and stabilization", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is currently in contact with the center of the folded cloth, applying slight downward pressure to stabilize the fold. No further motion is needed; the next action is to maintain this pose briefly to confirm completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 4 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 36, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.23208650946617126, + -0.03772188350558281, + 0.10838428139686584, + -2.756227731704712, + -0.1707901656627655, + -1.0149414539337158 + ], + "gripper_value": 0.08191495388746262 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "final adjustment and stabilization", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is currently in contact with the center of the folded cloth, applying slight downward pressure to stabilize the fold. No further motion is needed; the next action is to maintain this pose briefly to confirm completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 2 cm, move down 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.22172938287258148, + -0.046346407383680344, + 0.11423861980438232, + -2.783660650253296, + -0.18532849848270416, + -1.011521339416504 + ], + "gripper_value": 0.11119577288627625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "final adjustment and stabilization", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is currently in contact with the center of the folded cloth, applying slight downward pressure to stabilize the fold. No further motion is needed; the next action is to maintain this pose briefly to confirm completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.20927800238132477, + -0.05783158540725708, + 0.10521727055311203, + -2.8149101734161377, + -0.1080639660358429, + -0.9814484715461731 + ], + "gripper_value": 0.2950899302959442 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "final adjustment and stabilization", + "subtask_reasoning": "The blue cloth has been folded from top to bottom and lies flat on the table. The gripper is currently in contact with the center of the folded cloth, applying slight downward pressure to stabilize the fold. No further motion is needed; the next action is to maintain this pose briefly to confirm completion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 36, + "end": 42 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.19585588574409485, + -0.054834187030792236, + 0.09557682275772095, + -2.8918635845184326, + 0.037661369889974594, + -0.9060338735580444 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "confirm fold completion with gripper open", + "subtask_reasoning": "The blue cloth is folded on the table with the gripper positioned above it in an open state. The subtask of confirming fold completion is underway, as indicated by the stationary pose and open gripper. The robot should maintain this position briefly to verify the fold before concluding the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 43, + "end": 44 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.18900947272777557, + -0.05275699496269226, + 0.0935797169804573, + -3.019757032394409, + 0.196340411901474, + -0.8480088710784912 + ], + "gripper_value": 0.8801529407501221 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 878, + 437, + 996, + 578 + ], + "computer tower": [ + 559, + 23, + 815, + 277 + ], + "green ball": [ + 739, + 712, + 912, + 926 + ], + "blue chair": [ + 2, + 846, + 161, + 995 + ], + "wooden table": [ + 3, + 228, + 996, + 995 + ], + "blue towel": [ + 22, + 465, + 768, + 944 + ] + } + } + }, + "Understanding": { + "goal": "Fold the blue cloth from top to bottom by grasping the top edge and pulling it over the bottom edge." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top edge of cloth" + }, + { + "id": 2, + "subtask": "reposition above cloth center" + }, + { + "id": 3, + "subtask": "grasp and lift top edge" + }, + { + "id": 4, + "subtask": "drag cloth downward" + }, + { + "id": 5, + "subtask": "release and retreat after fold" + }, + { + "id": 6, + "subtask": "final adjustment and stabilization" + }, + { + "id": 7, + "subtask": "confirm fold completion with gripper open" + } + ], + "subtask_name": "confirm fold completion with gripper open", + "subtask_reasoning": "The blue cloth is folded on the table with the gripper positioned above it in an open state. The subtask of confirming fold completion is underway, as indicated by the stationary pose and open gripper. The robot should maintain this position briefly to verify the fold before concluding the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 44 + }, + "cache_ref": { + "anchor_ref_reasoning": 43 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 43, + "end": 44 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000995_ecot.json b/cot/chunk-0000/episode_0000995_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3590bbe9d29ea281368b1c9627a1e65050529bf3 --- /dev/null +++ b/cot/chunk-0000/episode_0000995_ecot.json @@ -0,0 +1,1459 @@ +{ + "task_name": "episode_0000995", + "episode_json": "json/chunk-0000/episode_0000995.json", + "video_path": "videos/chunk-0000/image_0/episode_0000995.mp4", + "instruction": "Pick up box cutter and put into drawer.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000995.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.3604559898376465, + "std": 0.16418081521987915, + "delta_total": -0.21983939409255981, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36046, std=0.16418, total_delta=-0.21984). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 16 + ], + [ + 3, + 17, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach box cutter\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the box cutter location without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp box cutter\", \"start\": 7, \"end\": 16, \"planning\": \"Close gripper around box cutter and secure hold as confirmed by gripper signal drop and visual contact.\"},\n {\"id\": 3, \"name\": \"place box cutter in drawer\", \"start\": 17, \"end\": 23, \"planning\": \"Lift and reposition box cutter into open drawer, then release grip as shown by gripper opening at end of segment.\"}\n ],\n \"global_plan\": \"Approach the box cutter, grasp it securely, then lift and place it into the open drawer before releasing.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing (delta=-0.36) consistent with grasping. Segment 3 shows maintained grip during transport and final release (gripper opens from 0.635 to 0.775). All subtasks align with observed gripper behavior and keyframe visuals.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach box cutter", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the box cutter location without closing gripper." + }, + { + "id": 2, + "name": "grasp box cutter", + "start": 7, + "end": 16, + "planning": "Close gripper around box cutter and secure hold as confirmed by gripper signal drop and visual contact." + }, + { + "id": 3, + "name": "place box cutter in drawer", + "start": 17, + "end": 23, + "planning": "Lift and reposition box cutter into open drawer, then release grip as shown by gripper opening at end of segment." + } + ], + "global_plan": "Approach the box cutter, grasp it securely, then lift and place it into the open drawer before releasing.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows significant gripper closing (delta=-0.36) consistent with grasping. Segment 3 shows maintained grip during transport and final release (gripper opens from 0.635 to 0.775). All subtasks align with observed gripper behavior and keyframe visuals." + } + }, + "episode_goal": "Pick up the box cutter and place it into the open drawer.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29785168170928955, + -0.15609882771968842, + 0.12877531349658966, + -3.0405592918395996, + -0.17145240306854248, + 0.17653301358222961 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open red toolbox drawer, with the box cutter visible inside. No grasping has occurred yet as the gripper remains open and the subtask is still in the approach phase. The next action should be to move the end-effector closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 25 cm, move up 2 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 70 degrees, keep gripper open; then move back 2 cm, move left 8 cm, move down 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958301603794098, + -0.15016724169254303, + 0.1202855110168457, + -2.999427080154419, + -0.1403225064277649, + 0.17865587770938873 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open red toolbox drawer, with the box cutter visible inside. No grasping has occurred yet as the gripper remains open and the subtask is still in the approach phase. The next action should be to move the end-effector closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 24 cm, move up 3 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 70 degrees, keep gripper open; then move back 3 cm, move left 9 cm, move down 8 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30019479990005493, + -0.09358952939510345, + 0.13584527373313904, + -2.8912692070007324, + -0.13415193557739258, + 0.3077012300491333 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open red toolbox drawer, with the box cutter visible inside. No grasping has occurred yet as the gripper remains open and the subtask is still in the approach phase. The next action should be to move the end-effector closer to the box cutter to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 19 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 70 degrees, keep gripper open; then move back 3 cm, move left 10 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2985135316848755, + -0.050492268055677414, + 0.1620093733072281, + -2.8268353939056396, + -0.22343569993972778, + 0.5161721706390381 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black diamond sandpaper package": [ + 741, + 521, + 994, + 985 + ], + "red tool chest": [ + 7, + 13, + 988, + 988 + ], + "bottle": [ + 428, + 165, + 646, + 441 + ], + "blue marker": [ + 737, + 387, + 994, + 514 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 60 degrees, keep gripper open; then move back 2 cm, move left 11 cm, move down 10 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943805158138275, + -0.0017974446527659893, + 0.1869095414876938, + -2.8742640018463135, + -0.3841113746166229, + 0.7871249914169312 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move back 2 cm, move left 11 cm, move down 11 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2812575399875641, + 0.04443662241101265, + 0.18209896981716156, + -2.98142671585083, + -0.46644100546836853, + 1.077148675918579 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move left 11 cm, move down 11 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.273648738861084, + 0.07703882455825806, + 0.17790432274341583, + -3.0533087253570557, + -0.48841050267219543, + 1.3486038446426392 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "approach box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move left 9 cm, move down 10 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755359709262848, + 0.0939008966088295, + 0.15358106791973114, + -3.08259654045105, + -0.508908212184906, + 1.5166971683502197 + ], + "gripper_value": 0.9954678416252136 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26886922121047974, + 0.1213362067937851, + 0.12207987159490585, + -3.0880281925201416, + -0.4711523652076721, + 1.5750846862792969 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 4 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26422086358070374, + 0.1447708159685135, + 0.10025283694267273, + -3.090003728866577, + -0.45686113834381104, + 1.5688307285308838 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 1 cm, move right 7 cm, move up 7 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.25242024660110474, + 0.17346835136413574, + 0.0926307886838913, + -3.0959784984588623, + -0.48295220732688904, + 1.580593466758728 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot is positioned above the open drawer with the gripper open, approaching the box cutter located inside. No grasping has occurred yet as the gripper remains fully open. The next action is to lower the end-effector to make contact with the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 2 cm, move right 12 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2475479543209076, + 0.18725840747356415, + 0.07845769822597504, + -3.1029183864593506, + -0.49560534954071045, + 1.5678318738937378 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 4 cm, move right 14 cm, move up 9 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.24672172963619232, + 0.19814345240592957, + 0.06157273054122925, + -3.077302932739258, + -0.5056427717208862, + 1.5042980909347534 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 5 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move forward 5 cm, move right 17 cm, move up 9 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25368577241897583, + 0.20556052029132843, + 0.05126278102397919, + -3.1351821422576904, + -0.5230397582054138, + 1.5251737833023071 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 17 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25791504979133606, + 0.20614345371723175, + 0.04714184254407883, + 3.111365795135498, + -0.4926539361476898, + 1.5673325061798096 + ], + "gripper_value": 0.8930966854095459 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 17 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25426968932151794, + 0.2007257044315338, + 0.046410609036684036, + -3.1237688064575195, + -0.44809019565582275, + 1.545311689376831 + ], + "gripper_value": 0.6871993541717529 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black diamond sandpaper package": [ + 744, + 512, + 995, + 980 + ], + "blue marker": [ + 744, + 379, + 995, + 505 + ], + "bottle": [ + 428, + 167, + 646, + 442 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 7 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 17 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2437741607427597, + 0.18067176640033722, + 0.05786094442009926, + -2.964308261871338, + -0.40936142206192017, + 1.4540979862213135 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "grasp box cutter", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, keep gripper closed; then move forward 5 cm, move right 17 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.24349907040596008, + 0.16384433209896088, + 0.11613810807466507, + -2.8580334186553955, + -0.47145169973373413, + 1.4042770862579346 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "place box cutter in drawer", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 17 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24952679872512817, + 0.1268685758113861, + 0.1526583433151245, + -2.7468132972717285, + -0.5048798322677612, + 1.3362654447555542 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "place box cutter in drawer", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move up 3 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2552086412906647, + 0.08911727368831635, + 0.18947449326515198, + -2.738755464553833, + -0.5693789720535278, + 1.3674976825714111 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "place box cutter in drawer", + "subtask_reasoning": "The robot has approached the box cutter located on the tool chest surface next to the open drawer. The gripper is currently open and positioned above the tool, indicating the approach phase is complete but the grasp has not yet occurred. The next action is to close the gripper to securely grasp the box cutter." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 9 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26695865392684937, + 0.04448743909597397, + 0.2033752053976059, + -2.7588188648223877, + -0.6000648736953735, + 1.405099868774414 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black diamond sandpaper package": [ + 748, + 512, + 994, + 976 + ], + "blue marker": [ + 743, + 379, + 995, + 503 + ], + "bottle": [ + 429, + 167, + 646, + 441 + ], + "red tool chest": [ + 11, + 18, + 988, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "place box cutter in drawer", + "subtask_reasoning": "The robot is holding the box cutter above the open drawer, having completed the approach and grasp phases. The current situation involves positioning the tool for insertion. The next action is to lower the box cutter into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 2 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.28131067752838135, + 0.020419051870703697, + 0.21012072265148163, + -2.7715659141540527, + -0.5988299250602722, + 1.4619709253311157 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "place box cutter in drawer", + "subtask_reasoning": "The robot is holding the box cutter above the open drawer, having completed the approach and grasp phases. The current situation involves positioning the tool for insertion. The next action is to lower the box cutter into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.2916765809059143, + -0.00559848640114069, + 0.2028377801179886, + -2.814638614654541, + -0.549649178981781, + 1.4963046312332153 + ], + "gripper_value": 0.6350118517875671 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "place box cutter in drawer", + "subtask_reasoning": "The robot is holding the box cutter above the open drawer, having completed the approach and grasp phases. The current situation involves positioning the tool for insertion. The next action is to lower the box cutter into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29318416118621826, + -0.005805838853120804, + 0.18277715146541595, + -2.8665459156036377, + -0.493930846452713, + 1.5141440629959106 + ], + "gripper_value": 0.7749528288841248 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the box cutter and place it into the open drawer." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach box cutter" + }, + { + "id": 2, + "subtask": "grasp box cutter" + }, + { + "id": 3, + "subtask": "place box cutter in drawer" + } + ], + "subtask_name": "place box cutter in drawer", + "subtask_reasoning": "The robot is holding the box cutter above the open drawer, having completed the approach and grasp phases. The current situation involves positioning the tool for insertion. The next action is to lower the box cutter into the drawer." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 17, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0000/episode_0000996_ecot.json b/cot/chunk-0000/episode_0000996_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ba07d493889b2e0aa11ba0818d548ab8c291a6c8 --- /dev/null +++ b/cot/chunk-0000/episode_0000996_ecot.json @@ -0,0 +1,2438 @@ +{ + "task_name": "episode_0000996", + "episode_json": "json/chunk-0000/episode_0000996.json", + "video_path": "videos/chunk-0000/image_0/episode_0000996.mp4", + "instruction": "Open microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0000/episode_0000996.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.7556056976318359, + "std": 0.29785412549972534, + "delta_total": -0.0040395259857177734, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.75561, std=0.29785, total_delta=-0.00404). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 111, + 119, + 119, + 119, + 119, + 119, + 119, + 219, + 219, + 219, + 219, + 219, + 319, + 319, + 319, + 319, + 319 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 18 + ], + [ + 3, + 19, + 24 + ], + [ + 4, + 25, + 29 + ], + [ + 5, + 30, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach microwave door\", \"start\": 0, \"end\": 10, \"planning\": \"Move end-effector toward the microwave door handle while closing gripper to prepare for contact.\"},\n {\"id\": 2, \"name\": \"grasp and pull door open\", \"start\": 11, \"end\": 18, \"planning\": \"Maintain gripper closure on handle and pull door outward to fully open it.\"},\n {\"id\": 3, \"name\": \"release handle and retreat slightly\", \"start\": 19, \"end\": 24, \"planning\": \"Open gripper to release handle and move end-effector back slightly to clear door path.\"},\n {\"id\": 4, \"name\": \"reposition above cavity\", \"start\": 25, \"end\": 29, \"planning\": \"Move end-effector upward and forward to position above the microwave interior without grasping.\"},\n {\"id\": 5, \"name\": \"final positioning over sink area\", \"start\": 30, \"end\": 34, \"planning\": \"Continue moving end-effector laterally and downward toward sink region, maintaining open gripper.\"}\n ],\n \"global_plan\": \"Open microwave by approaching handle, grasping and pulling door open, releasing handle, then repositioning arm above cavity and toward sink area.\",\n \"notes\": \"Gripper closes meaningfully in segments 1-2 (frames 0-18), enabling grasp wording; segments 3-5 show no gripper closure, so actions are described as repositioning or retreating without grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach microwave door", + "start": 0, + "end": 10, + "planning": "Move end-effector toward the microwave door handle while closing gripper to prepare for contact." + }, + { + "id": 2, + "name": "grasp and pull door open", + "start": 11, + "end": 18, + "planning": "Maintain gripper closure on handle and pull door outward to fully open it." + }, + { + "id": 3, + "name": "release handle and retreat slightly", + "start": 19, + "end": 24, + "planning": "Open gripper to release handle and move end-effector back slightly to clear door path." + }, + { + "id": 4, + "name": "reposition above cavity", + "start": 25, + "end": 29, + "planning": "Move end-effector upward and forward to position above the microwave interior without grasping." + }, + { + "id": 5, + "name": "final positioning over sink area", + "start": 30, + "end": 34, + "planning": "Continue moving end-effector laterally and downward toward sink region, maintaining open gripper." + } + ], + "global_plan": "Open microwave by approaching handle, grasping and pulling door open, releasing handle, then repositioning arm above cavity and toward sink area.", + "notes": "Gripper closes meaningfully in segments 1-2 (frames 0-18), enabling grasp wording; segments 3-5 show no gripper closure, so actions are described as repositioning or retreating without grasping." + } + }, + "episode_goal": "Open the microwave door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2992251217365265, + 0.06121072545647621, + 0.06797433644533157, + -3.126410722732544, + -0.16433991491794586, + 0.019269419834017754 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned above the sink, with the microwave door handle visible to the right. No part of the subtask has been completed yet as the arm has not moved toward the microwave. The next action is to translate the arm towards the microwave door handle to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 7 cm, tilt right 10 degrees, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29376330971717834, + 0.061932336539030075, + 0.05870077759027481, + -3.136462688446045, + -0.13080313801765442, + 0.011320345103740692 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned above the sink, with the microwave door handle visible to the right. No part of the subtask has been completed yet as the arm has not moved toward the microwave. The next action is to translate the arm towards the microwave door handle to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 8 cm, move up 2 cm, tilt right 10 degrees, tilt back 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2786168158054352, + 0.08261635154485703, + 0.05231856554746628, + 3.0873496532440186, + -0.12557394802570343, + -0.029394760727882385 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned above the sink, with the microwave door handle visible to the right. No part of the subtask has been completed yet as the arm has not moved toward the microwave. The next action is to translate the arm towards the microwave door handle to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, move up 2 cm, tilt back 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2662773132324219, + 0.11134763062000275, + 0.05184192582964897, + 3.0797488689422607, + -0.12936581671237946, + -0.01638076826930046 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "faucet": [ + 495, + 547, + 605, + 827 + ], + "orange sponge": [ + 739, + 835, + 833, + 940 + ], + "blue bowl": [ + 312, + 780, + 433, + 931 + ], + "microwave control panel": [ + 550, + 176, + 700, + 502 + ], + "hanging item": [ + 68, + 6, + 327, + 433 + ], + "stovetop": [ + 4, + 410, + 337, + 824 + ], + "toy kitchen cabinet": [ + 7, + 5, + 934, + 881 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned above the sink, with the microwave door handle visible to the right. No part of the subtask has been completed yet as the arm has not moved toward the microwave. The next action is to translate the arm towards the microwave door handle to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, move up 2 cm, tilt back 20 degrees, close gripper; then tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2727581560611725, + 0.1311732977628708, + 0.06243312358856201, + 3.0709331035614014, + -0.17692358791828156, + 0.029008427634835243 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned above the sink, with the microwave door handle visible to the right. No part of the subtask has been completed yet as the arm has not moved toward the microwave. The next action is to translate the arm towards the microwave door handle to begin the approach." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 1 cm, tilt back 20 degrees, close gripper; then tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2860911190509796, + 0.14984622597694397, + 0.0635291188955307, + 3.0602359771728516, + -0.22098222374916077, + 0.04904911294579506 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30060335993766785, + 0.1511184275150299, + 0.066380076110363, + 3.057478904724121, + -0.2677174508571625, + 0.04846534878015518 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.30892130732536316, + 0.14843663573265076, + 0.06992243975400925, + 3.0402824878692627, + -0.26943111419677734, + 0.03424030542373657 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, tilt back 10 degrees, close gripper; then move back 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085155785083771, + 0.1412588357925415, + 0.06926991045475006, + 3.0126945972442627, + -0.2660296559333801, + 0.013277709484100342 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt back 10 degrees, keep gripper closed; then move back 8 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30832570791244507, + 0.1356109380722046, + 0.06999849528074265, + 2.9979610443115234, + -0.2842264175415039, + 0.014102940447628498 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt back 10 degrees, keep gripper closed; then move back 10 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.31090763211250305, + 0.13449148833751678, + 0.0677134171128273, + 2.9983267784118652, + -0.3243717849254608, + 0.020640157163143158 + ], + "gripper_value": 0.7131344676017761 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "approach microwave door", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 1 cm, tilt back 10 degrees, keep gripper closed; then move back 10 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.31306353211402893, + 0.14003367722034454, + 0.07424267381429672, + 3.0226387977600098, + -0.4481307566165924, + 0.05658400058746338 + ], + "gripper_value": 0.4256414473056793 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31666502356529236, + 0.14043520390987396, + 0.07666077464818954, + 3.0229225158691406, + -0.4862176179885864, + 0.05838076397776604 + ], + "gripper_value": 0.24254894256591797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 2 cm, move right 2 cm, move up 10 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3160248398780823, + 0.1403462141752243, + 0.07642360031604767, + 3.0467090606689453, + -0.5492390394210815, + 0.06557056307792664 + ], + "gripper_value": 0.24523308873176575 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave, with the gripper open and ready to approach the door handle. No contact has been made yet, and the next action should involve moving the gripper closer to the handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 6 cm, move right 2 cm, move up 9 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31606510281562805, + 0.14059805870056152, + 0.07609979063272476, + 3.0438504219055176, + -0.5500142574310303, + 0.06864655017852783 + ], + "gripper_value": 0.2631158232688904 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave handle, having completed the approach phase. The gripper is open and ready to grasp the handle. The next action is to close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 11 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 9 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31030359864234924, + 0.14486457407474518, + 0.0752251148223877, + 3.0526459217071533, + -0.5492186546325684, + 0.06229208782315254 + ], + "gripper_value": 0.2645227313041687 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave handle, having completed the approach phase. The gripper is open and ready to grasp the handle. The next action is to close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 11 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.28469565510749817, + 0.14273065328598022, + 0.07576295733451843, + 3.029693603515625, + -0.5085737109184265, + 0.026552341878414154 + ], + "gripper_value": 0.2645227313041687 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 312, + 781, + 433, + 931 + ], + "orange sponge": [ + 739, + 836, + 833, + 940 + ], + "microwave control panel": [ + 544, + 189, + 698, + 508 + ], + "stovetop": [ + 4, + 408, + 338, + 825 + ], + "hanging item": [ + 6, + 4, + 279, + 328 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave handle, having completed the approach phase. The gripper is open and ready to grasp the handle. The next action is to close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 1 cm, move up 3 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 11 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2585671842098236, + 0.14293734729290009, + 0.07727064192295074, + 2.995755434036255, + -0.4424803853034973, + -0.025446848943829536 + ], + "gripper_value": 0.2645227313041687 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 312, + 781, + 433, + 931 + ], + "orange sponge": [ + 740, + 836, + 833, + 940 + ], + "microwave control panel": [ + 539, + 202, + 695, + 515 + ], + "stovetop": [ + 4, + 409, + 337, + 825 + ], + "hanging item": [ + 3, + 4, + 253, + 371 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave handle, having completed the approach phase. The gripper is open and ready to grasp the handle. The next action is to close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move forward 11 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.23425953090190887, + 0.13811613619327545, + 0.07784047722816467, + 3.001591920852661, + -0.3600086271762848, + -0.11132409423589706 + ], + "gripper_value": 0.3149794638156891 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "grasp and pull door open", + "subtask_reasoning": "The robot arm is positioned near the microwave handle, having completed the approach phase. The gripper is open and ready to grasp the handle. The next action is to close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 11 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 3 cm, move down 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 11, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20888206362724304, + 0.1340673863887787, + 0.1007838249206543, + 2.9558308124542236, + -0.20267750322818756, + -0.14467962086200714 + ], + "gripper_value": 0.5769375562667847 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "release handle and retreat slightly", + "subtask_reasoning": "The robot arm is positioned near the microwave handle, having completed the approach phase. The gripper is open and ready to grasp the handle. The next action is to close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 4 cm, move right 2 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.19681648910045624, + 0.12293189018964767, + 0.1321936696767807, + 2.814558744430542, + -0.11111077666282654, + -0.16565760970115662 + ], + "gripper_value": 0.8607404828071594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "release handle and retreat slightly", + "subtask_reasoning": "The robot arm is positioned near the microwave handle, having completed the approach phase. The gripper is open and ready to grasp the handle. The next action is to close the gripper to secure the handle before pulling the door open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move back 5 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.203116312623024, + 0.11649955064058304, + 0.17878207564353943, + 2.7102386951446533, + -0.11562629789113998, + -0.1238827258348465 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "release handle and retreat slightly", + "subtask_reasoning": "The microwave door is fully open, and the gripper has released the handle as indicated by the high gripper value (0.99). The arm is positioned near the open door, having completed the pulling action. The next step is to retreat slightly away from the microwave to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move left 2 cm, move down 4 cm, tilt left 10 degrees, tilt back 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23209001123905182, + 0.11166205257177353, + 0.20027951896190643, + 2.717210531234741, + -0.1697617620229721, + 0.017146045342087746 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "release handle and retreat slightly", + "subtask_reasoning": "The microwave door is fully open, and the gripper has released the handle as indicated by the high gripper value (0.99). The arm is positioned near the open door, having completed the pulling action. The next step is to retreat slightly away from the microwave to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 5 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 5 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.271622896194458, + 0.11353368312120438, + 0.18835698068141937, + 2.743652105331421, + -0.22092531621456146, + 0.1578662395477295 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "release handle and retreat slightly", + "subtask_reasoning": "The microwave door is fully open, and the gripper has released the handle as indicated by the high gripper value (0.99). The arm is positioned near the open door, having completed the pulling action. The next step is to retreat slightly away from the microwave to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 5 cm, tilt left 10 degrees, keep gripper open; then move back 5 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30285531282424927, + 0.12485980242490768, + 0.168678879737854, + 2.823573112487793, + -0.2517944276332855, + 0.2451070249080658 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "release handle and retreat slightly", + "subtask_reasoning": "The microwave door is fully open, and the gripper has released the handle as indicated by the high gripper value (0.99). The arm is positioned near the open door, having completed the pulling action. The next step is to retreat slightly away from the microwave to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, tilt left 10 degrees, keep gripper open; then move back 5 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 8 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31505030393600464, + 0.13208720088005066, + 0.14153887331485748, + 2.923926830291748, + -0.2768065333366394, + 0.21945524215698242 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "reposition above cavity", + "subtask_reasoning": "The microwave door is fully open, and the gripper has released the handle as indicated by the high gripper value (0.99). The arm is positioned near the open door, having completed the pulling action. The next step is to retreat slightly away from the microwave to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 8 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3117055296897888, + 0.13449154794216156, + 0.1259862184524536, + 2.9566383361816406, + -0.27463364601135254, + 0.1995750069618225 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "reposition above cavity", + "subtask_reasoning": "The microwave door is fully open, and the gripper has released the handle as indicated by the high gripper value (0.99). The arm is positioned near the open door, having completed the pulling action. The next step is to retreat slightly away from the microwave to clear the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 8 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29964181780815125, + 0.1350572407245636, + 0.11229304224252701, + 2.9365384578704834, + -0.25944769382476807, + 0.16330237686634064 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "reposition above cavity", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the cavity near the sink area. The gripper is open, indicating no grasping action is occurring. The next step is to maintain or adjust the arm's position above the cavity as required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 5 cm, move down 2 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 8 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28692010045051575, + 0.13369305431842804, + 0.09883561730384827, + 2.976030111312866, + -0.23930613696575165, + 0.15353535115718842 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "reposition above cavity", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the cavity near the sink area. The gripper is open, indicating no grasping action is occurring. The next step is to maintain or adjust the arm's position above the cavity as required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move right 8 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2761765420436859, + 0.11122938990592957, + 0.08270056545734406, + 3.039269208908081, + -0.15715274214744568, + 0.10023237019777298 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "reposition above cavity", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the cavity near the sink area. The gripper is open, indicating no grasping action is occurring. The next step is to maintain or adjust the arm's position above the cavity as required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 1 cm, keep gripper open; then move forward 1 cm, move right 8 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2678818106651306, + 0.08470926433801651, + 0.08801787346601486, + 3.051640272140503, + -0.10170651972293854, + 0.04332321137189865 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "final positioning over sink area", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the cavity near the sink area. The gripper is open, indicating no grasping action is occurring. The next step is to maintain or adjust the arm's position above the cavity as required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 8 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2693061828613281, + 0.055401746183633804, + 0.08641783893108368, + 3.0627923011779785, + -0.0674976259469986, + 0.018322018906474113 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "final positioning over sink area", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the cavity near the sink area. The gripper is open, indicating no grasping action is occurring. The next step is to maintain or adjust the arm's position above the cavity as required." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 5 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2695881426334381, + 0.03041115775704384, + 0.07666896283626556, + 3.048804998397827, + -0.07604915648698807, + 2.727950231928844e-05 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 312, + 781, + 433, + 931 + ], + "orange sponge": [ + 739, + 835, + 833, + 941 + ], + "microwave control panel": [ + 541, + 296, + 701, + 573 + ], + "sink": [ + 245, + 638, + 666, + 993 + ], + "toy kitchen cabinet": [ + 9, + 5, + 932, + 885 + ], + "faucet": [ + 496, + 591, + 606, + 838 + ], + "microwave door": [ + 9, + 237, + 778, + 724 + ] + } + } + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "final positioning over sink area", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the sink area with the gripper open. The subtask involves final positioning over the sink, which appears to be completed as the arm is stationary and correctly aligned. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2730873227119446, + 0.015984434634447098, + 0.06874806433916092, + 3.054191827774048, + -0.1176755428314209, + 0.0009555130382068455 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "final positioning over sink area", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the sink area with the gripper open. The subtask involves final positioning over the sink, which appears to be completed as the arm is stationary and correctly aligned. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768406569957733, + 0.004677106626331806, + 0.06294549256563187, + 3.065990686416626, + -0.15771450102329254, + -0.01592167094349861 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the microwave door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach microwave door" + }, + { + "id": 2, + "subtask": "grasp and pull door open" + }, + { + "id": 3, + "subtask": "release handle and retreat slightly" + }, + { + "id": 4, + "subtask": "reposition above cavity" + }, + { + "id": 5, + "subtask": "final positioning over sink area" + } + ], + "subtask_name": "final positioning over sink area", + "subtask_reasoning": "The microwave door is open, and the robot arm is positioned above the sink area with the gripper open. The subtask involves final positioning over the sink, which appears to be completed as the arm is stationary and correctly aligned. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001002_ecot.json b/cot/chunk-0001/episode_0001002_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a48c67be2ef1c1fcbe69b733ef849cb23f087028 --- /dev/null +++ b/cot/chunk-0001/episode_0001002_ecot.json @@ -0,0 +1,1776 @@ +{ + "task_name": "episode_0001002", + "episode_json": "json/chunk-0001/episode_0001002.json", + "video_path": "videos/chunk-0001/image_0/episode_0001002.mp4", + "instruction": "Moved the blue fork from the front burner on the right side to the middle of the cooker.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001002.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.5893242359161377, + "std": 0.27660393714904785, + "delta_total": -0.004067718982696533, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58932, std=0.27660, total_delta=-0.00407). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 100, + 0, + 0, + 0, + 0, + 0, + 10, + 10, + 10, + 110, + 110, + 10, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 123, + 123 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 4 + ], + [ + 3, + 5, + 9 + ], + [ + 4, + 10, + 12 + ], + [ + 5, + 13, + 14 + ], + [ + 6, + 15, + 15 + ], + [ + 7, + 16, + 22 + ], + [ + 8, + 23, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue fork\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the blue fork on the front right burner without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue fork\", \"start\": 5, \"end\": 9, \"planning\": \"Close the gripper around the blue fork to secure it for manipulation.\"},\n {\"id\": 3, \"name\": \"lift and reposition fork\", \"start\": 10, \"end\": 14, \"planning\": \"Lift the blue fork slightly and begin moving it toward the center of the cooker.\"},\n {\"id\": 4, \"name\": \"place fork at center\", \"start\": 15, \"end\": 22, \"planning\": \"Position the blue fork over the middle burner and release it by opening the gripper.\"},\n {\"id\": 5, \"name\": \"retreat from cooker\", \"start\": 23, \"end\": 24, \"planning\": \"Move the end-effector away from the cooker after releasing the fork.\"}\n ],\n \"global_plan\": \"The robot approaches the blue fork on the front right burner, grasps it, lifts and moves it to the center burner, releases it, and then retreats.\",\n \"notes\": \"Subtasks are aligned with observed gripper closure in segments 3 and 8, and motion phases. Frame coverage is contiguous and complete from 0 to 24.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue fork", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the blue fork on the front right burner without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue fork", + "start": 5, + "end": 9, + "planning": "Close the gripper around the blue fork to secure it for manipulation." + }, + { + "id": 3, + "name": "lift and reposition fork", + "start": 10, + "end": 14, + "planning": "Lift the blue fork slightly and begin moving it toward the center of the cooker." + }, + { + "id": 4, + "name": "place fork at center", + "start": 15, + "end": 22, + "planning": "Position the blue fork over the middle burner and release it by opening the gripper." + }, + { + "id": 5, + "name": "retreat from cooker", + "start": 23, + "end": 24, + "planning": "Move the end-effector away from the cooker after releasing the fork." + } + ], + "global_plan": "The robot approaches the blue fork on the front right burner, grasps it, lifts and moves it to the center burner, releases it, and then retreats.", + "notes": "Subtasks are aligned with observed gripper closure in segments 3 and 8, and motion phases. Frame coverage is contiguous and complete from 0 to 24." + } + }, + "episode_goal": "Move the blue fork from the front-right burner to the center of the cooker.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30588391423225403, + -0.07415465265512466, + 0.000551858451217413, + 3.1072587966918945, + -0.0917724221944809, + -0.15083906054496765 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned near the front-right burner where the blue fork is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 8 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.300645112991333, + -0.07248305529356003, + -0.009226690046489239, + 3.1098787784576416, + -0.05663149058818817, + -0.15107451379299164 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned near the front-right burner where the blue fork is located. No movement or grasping has occurred yet. The next action should be to move the end effector closer to the blue fork to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.30767330527305603, + -0.056837212294340134, + -0.012435771524906158, + 3.122220277786255, + -0.03184033930301666, + -0.1435512900352478 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the front-right burner where the blue fork is located. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 6 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then move back 3 cm, move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31659144163131714, + -0.032494816929101944, + -0.008615951985120773, + 3.139186382293701, + -0.0383329801261425, + -0.09284970909357071 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 728, + 198, + 846, + 383 + ], + "potato": [ + 279, + 254, + 379, + 359 + ], + "sink": [ + 684, + 465, + 994, + 962 + ], + "blue": [ + 536, + 474, + 653, + 620 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the front-right burner where the blue fork is located. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then move back 5 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33136066794395447, + -0.012376082129776478, + -0.00556587940081954, + -3.1318275928497314, + -0.05043787136673927, + -0.06559696793556213 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "approach blue fork", + "subtask_reasoning": "The robot is positioned above the front-right burner where the blue fork is located. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open; then move left 1 cm, move down 4 cm, close gripper; then move back 5 cm, move right 2 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33721065521240234, + 0.0014160810969769955, + -0.013120324350893497, + 3.135998487472534, + -0.05087818577885628, + -0.027526477351784706 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the front-right burner where the blue fork is located. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, close gripper; then move back 5 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.34078770875930786, + 0.008755309507250786, + -0.035276900976896286, + 3.1068058013916016, + 0.014139590784907341, + -0.02176230028271675 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot is positioned above the front-right burner where the blue fork is located. No grasping has occurred yet as the gripper remains open. The next action is to lower the end-effector to make contact with the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, close gripper; then move back 5 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3404424488544464, + 0.008804074488580227, + -0.043265294283628464, + 3.0950231552124023, + 0.04341237619519234, + -0.02621769718825817 + ], + "gripper_value": 0.9961419701576233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the front-right burner and is now positioned directly above it. The gripper is open and aligned with the fork, indicating readiness to grasp. The next action is to close the gripper to securely hold the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 5 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 7 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.33940887451171875, + 0.007904346100986004, + -0.04930681362748146, + 3.091932535171509, + 0.05529145523905754, + -0.03013143129646778 + ], + "gripper_value": 0.9620732665061951 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the front-right burner and is now positioned directly above it. The gripper is open and aligned with the fork, indicating readiness to grasp. The next action is to close the gripper to securely hold the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 9 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34066030383110046, + 0.010262084193527699, + -0.051068972796201706, + 3.1015567779541016, + 0.033243998885154724, + -0.025971023365855217 + ], + "gripper_value": 0.6931989789009094 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "grasp blue fork", + "subtask_reasoning": "The robot has approached the blue fork on the front-right burner and is now positioned directly above it. The gripper is open and aligned with the fork, indicating readiness to grasp. The next action is to close the gripper to securely hold the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 5 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33851945400238037, + 0.011371012777090073, + -0.051012758165597916, + 3.103691816329956, + 0.017891008406877518, + -0.02645723707973957 + ], + "gripper_value": 0.4329093396663666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the front-right burner and is now positioned directly above it. The gripper is open and aligned with the fork, indicating readiness to grasp. The next action is to close the gripper to securely hold the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 1 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 10 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3249705731868744, + 0.008055642247200012, + -0.048416245728731155, + 3.1177151203155518, + 0.030235840007662773, + -0.0404726080596447 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has approached the blue fork on the front-right burner and is now positioned directly above it. The gripper is open and aligned with the fork, indicating readiness to grasp. The next action is to close the gripper to securely hold the blue fork." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114236295223236, + -0.006391274742782116, + -0.03319350630044937, + 3.132814884185791, + 0.020838217809796333, + -0.09325692057609558 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has grasped the blue fork on the front-right burner and is now lifting it slightly. The gripper is closed and the fork is in contact with the end-effector. The next action is to move the fork toward the center burner while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 10 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2903442680835724, + -0.01975051313638687, + -0.029408995062112808, + -3.1396589279174805, + 0.04448768123984337, + -0.0713266134262085 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has grasped the blue fork on the front-right burner and is now lifting it slightly. The gripper is closed and the fork is in contact with the end-effector. The next action is to move the fork toward the center burner while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.28605887293815613, + -0.009447398595511913, + -0.01883760467171669, + -3.1374990940093994, + 0.027602236717939377, + -0.03525124490261078 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "lift and reposition fork", + "subtask_reasoning": "The robot has grasped the blue fork on the front-right burner and is now lifting it slightly. The gripper is closed and the fork is in contact with the end-effector. The next action is to move the fork toward the center burner while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.28914403915405273, + 0.023397957906126976, + -0.01222094427794218, + 3.1405677795410156, + -0.0015286261914297938, + 0.08705209195613861 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 661, + 193, + 847, + 382 + ], + "potato": [ + 280, + 254, + 379, + 359 + ], + "sink": [ + 685, + 465, + 995, + 965 + ], + "hanging whisk": [ + 705, + 2, + 790, + 152 + ], + "blue": [ + 477, + 506, + 565, + 656 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot has grasped the blue fork on the front-right burner and is now lifting it slightly. The gripper is closed and the fork is in contact with the end-effector. The next action is to move the fork toward the center burner while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 9 cm, move down 4 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3052636682987213, + 0.06287330389022827, + 0.0007221936248242855, + -3.1333084106445312, + -0.053572990000247955, + 0.18076369166374207 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 661, + 192, + 846, + 382 + ], + "potato": [ + 280, + 254, + 378, + 358 + ], + "stove burner": [ + 523, + 405, + 729, + 626 + ], + "blue": [ + 435, + 442, + 502, + 579 + ], + "hanging whisk": [ + 706, + 2, + 789, + 152 + ], + "sink": [ + 686, + 466, + 995, + 969 + ] + } + } + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot has grasped the blue fork on the front-right burner and is now lifting it slightly. The gripper is closed and the fork is in contact with the end-effector. The next action is to move the fork toward the center burner while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 5 cm, move down 5 cm, open gripper; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31745272874832153, + 0.09405551850795746, + -0.002260028850287199, + -3.120393753051758, + -0.04343778267502785, + 0.21780045330524445 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot has grasped the blue fork on the front-right burner and is now lifting it slightly. The gripper is closed and the fork is in contact with the end-effector. The next action is to move the fork toward the center burner while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 5 cm, open gripper; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3332507610321045, + 0.11089099198579788, + -0.01902334950864315, + -3.1163582801818848, + 0.0006070900708436966, + 0.21378780901432037 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot is holding the blue fork above the center burner of the cooker, having successfully transported it from the front-right burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the fork slightly and open the gripper to release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, open gripper; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34863775968551636, + 0.11834901571273804, + -0.03481101989746094, + -3.098677158355713, + 0.011693227104842663, + 0.19649827480316162 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot is holding the blue fork above the center burner of the cooker, having successfully transported it from the front-right burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the fork slightly and open the gripper to release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.36297789216041565, + 0.12094106525182724, + -0.05273927375674248, + -3.0837998390197754, + 0.037527333945035934, + 0.18119651079177856 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot is holding the blue fork above the center burner of the cooker, having successfully transported it from the front-right burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the fork slightly and open the gripper to release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, open gripper; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3744475245475769, + 0.1254819929599762, + -0.057998936623334885, + -3.0778872966766357, + 0.03986821323633194, + 0.17623156309127808 + ], + "gripper_value": 0.4068177044391632 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot is holding the blue fork above the center burner of the cooker, having successfully transported it from the front-right burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the fork slightly and open the gripper to release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37727877497673035, + 0.12474127858877182, + -0.058843135833740234, + -3.090043306350708, + 0.030507205054163933, + 0.19237935543060303 + ], + "gripper_value": 0.4634169340133667 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "place fork at center", + "subtask_reasoning": "The robot is holding the blue fork above the center burner of the cooker, having successfully transported it from the front-right burner. The gripper remains closed, indicating the object is still secured. The next action is to lower the fork slightly and open the gripper to release it onto the center burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 15, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3596864938735962, + 0.11140010505914688, + -0.05242197588086128, + -3.103569746017456, + 0.024491645395755768, + 0.22807163000106812 + ], + "gripper_value": 0.7768828272819519 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "retreat from cooker", + "subtask_reasoning": "The blue fork has been successfully moved to the center burner and released. The robot arm is currently positioned above the cooker with the gripper open, indicating the manipulation task is complete. The next action is to retract the arm away from the stove area to finish the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3459556996822357, + 0.07532529532909393, + -0.013310463167726994, + -3.1252450942993164, + -0.05840878188610077, + 0.20617900788784027 + ], + "gripper_value": 0.9920742511749268 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the blue fork from the front-right burner to the center of the cooker." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue fork" + }, + { + "id": 2, + "subtask": "grasp blue fork" + }, + { + "id": 3, + "subtask": "lift and reposition fork" + }, + { + "id": 4, + "subtask": "place fork at center" + }, + { + "id": 5, + "subtask": "retreat from cooker" + } + ], + "subtask_name": "retreat from cooker", + "subtask_reasoning": "The blue fork has been successfully moved to the center burner and released. The robot arm is currently positioned above the cooker with the gripper open, indicating the manipulation task is complete. The next action is to retract the arm away from the stove area to finish the retreat subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001004_ecot.json b/cot/chunk-0001/episode_0001004_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7bd64392a3b70292deb977d500532a08cdab39b9 --- /dev/null +++ b/cot/chunk-0001/episode_0001004_ecot.json @@ -0,0 +1,2027 @@ +{ + "task_name": "episode_0001004", + "episode_json": "json/chunk-0001/episode_0001004.json", + "video_path": "videos/chunk-0001/image_0/episode_0001004.mp4", + "instruction": "Move silver mixing bowl to top left of the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 29, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001004.json" + }, + "fps": 5.0, + "T_eff": 29, + "gripper_behavior_summary": { + "available": true, + "range": 0.9304499626159668, + "std": 0.41941505670547485, + "delta_total": -0.0013275146484375, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93045, std=0.41942, total_delta=-0.00133). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 8, + 8, + 8, + 8, + 8, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 208, + 208, + 208, + 208, + 224, + 224, + 224, + 224, + 224 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 12 + ], + [ + 3, + 13, + 19 + ], + [ + 4, + 20, + 23 + ], + [ + 5, + 24, + 28 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and close gripper on bowl\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the silver mixing bowl and begin closing the gripper to make contact.\"},\n {\"id\": 2, \"name\": \"secure grasp on bowl\", \"start\": 8, \"end\": 12, \"planning\": \"Complete gripper closure to firmly grasp the bowl, confirmed by low gripper value and stable pose.\"},\n {\"id\": 3, \"name\": \"lift and translate bowl toward target\", \"start\": 13, \"end\": 19, \"planning\": \"Lift the grasped bowl and move it diagonally toward the top-left region of the table.\"},\n {\"id\": 4, \"name\": \"position bowl at target location\", \"start\": 20, \"end\": 23, \"planning\": \"Fine-tune position over target area while maintaining grip, preparing for release.\"},\n {\"id\": 5, \"name\": \"release bowl and retreat\", \"start\": 24, \"end\": 28, \"planning\": \"Open gripper to release the bowl at target location, then retract end-effector upward and away.\"}\n ],\n \"global_plan\": \"Grasp the silver mixing bowl, lift and transport it to the top-left corner of the table, then release and retreat.\",\n \"notes\": \"Plan follows observed motion segments and gripper evidence: closing in segment 1, full grasp in segment 2, transport in segment 3, positioning in segment 4, and release in segment 5. All frame ranges are contiguous and cover 0–28.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and close gripper on bowl", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the silver mixing bowl and begin closing the gripper to make contact." + }, + { + "id": 2, + "name": "secure grasp on bowl", + "start": 8, + "end": 12, + "planning": "Complete gripper closure to firmly grasp the bowl, confirmed by low gripper value and stable pose." + }, + { + "id": 3, + "name": "lift and translate bowl toward target", + "start": 13, + "end": 19, + "planning": "Lift the grasped bowl and move it diagonally toward the top-left region of the table." + }, + { + "id": 4, + "name": "position bowl at target location", + "start": 20, + "end": 23, + "planning": "Fine-tune position over target area while maintaining grip, preparing for release." + }, + { + "id": 5, + "name": "release bowl and retreat", + "start": 24, + "end": 28, + "planning": "Open gripper to release the bowl at target location, then retract end-effector upward and away." + } + ], + "global_plan": "Grasp the silver mixing bowl, lift and transport it to the top-left corner of the table, then release and retreat.", + "notes": "Plan follows observed motion segments and gripper evidence: closing in segment 1, full grasp in segment 2, transport in segment 3, positioning in segment 4, and release in segment 5. All frame ranges are contiguous and cover 0–28." + } + }, + "episode_goal": "Move the silver mixing bowl to the top left of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2551562488079071, + 0.05611550807952881, + 0.03249945491552353, + -2.8591983318328857, + -0.05331909656524658, + 0.12848228216171265 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper currently open. The subtask of approaching the bowl is underway, but the gripper has not yet closed. The next action should be to lower the arm slightly and close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 7 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2519818842411041, + 0.05558392405509949, + 0.024879081174731255, + -2.8568365573883057, + -0.025334032252430916, + 0.13568593561649323 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper currently open. The subtask of approaching the bowl is underway, but the gripper has not yet closed. The next action should be to lower the arm slightly and close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25323861837387085, + 0.05742044001817703, + 0.013956727460026741, + -2.8414230346679688, + 0.0019807815551757812, + 0.16643156111240387 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper currently open. The subtask of approaching the bowl is underway, but the gripper has not yet closed. The next action should be to lower the arm slightly and close the gripper to grasp the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, move down 5 cm, close gripper; then move back 1 cm, move left 1 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26325544714927673, + 0.056934867054224014, + 0.0012705227127298713, + -2.821316957473755, + 0.017074385657906532, + 0.1948370635509491 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the bowl, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 4 cm, close gripper; then move left 2 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2694664001464844, + 0.054606083780527115, + -0.014326564967632294, + -2.7553255558013916, + 0.012047878466546535, + 0.20810814201831818 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow scrubber": [ + 356, + 634, + 545, + 810 + ], + "tape roll": [ + 520, + 427, + 614, + 541 + ], + "wooden table": [ + 4, + 254, + 738, + 973 + ], + "metal bowl": [ + 193, + 480, + 398, + 714 + ], + "metal lid": [ + 11, + 463, + 188, + 644 + ], + "shoe": [ + 841, + 2, + 969, + 81 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the bowl, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, close gripper; then move left 2 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27270859479904175, + 0.05671953037381172, + -0.024408722296357155, + -2.7316501140594482, + 0.0003821559657808393, + 0.19692815840244293 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the bowl, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move left 2 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27908891439437866, + 0.05710911005735397, + -0.03407015651464462, + -2.7265677452087402, + 0.0051311952993273735, + 0.20154570043087006 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the bowl, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move left 2 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 5 cm, move left 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28052395582199097, + 0.06563864648342133, + -0.03852206841111183, + -2.7385170459747314, + 0.01398398820310831, + 0.2247208058834076 + ], + "gripper_value": 0.6621366739273071 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "approach and close gripper on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the bowl, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 2 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809736430644989, + 0.06506037712097168, + -0.04007309302687645, + -2.7641263008117676, + 0.010517061688005924, + 0.23867154121398926 + ], + "gripper_value": 0.3519224226474762 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the bowl, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move left 8 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2799711525440216, + 0.06456674635410309, + -0.040153566747903824, + -2.765899181365967, + 0.02052471786737442, + 0.23203153908252716 + ], + "gripper_value": 0.14042599499225616 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp on bowl", + "subtask_reasoning": "The robot arm is positioned above the silver mixing bowl on the wooden table, with the gripper open and ready to close. No prior actions have been completed in this subtask. The next step is to close the gripper to grasp the bowl, as segment-level evidence supports a meaningful grasp transition." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2769407331943512, + 0.06493426114320755, + -0.039003945887088776, + -2.744389533996582, + 0.039201769977808, + 0.22201846539974213 + ], + "gripper_value": 0.07722585648298264 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp on bowl", + "subtask_reasoning": "The robot has approached the silver mixing bowl and closed its gripper around it. The gripper value indicates a secure grasp is being established. The next action is to confirm the grasp and prepare to lift the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2737022042274475, + 0.06860754638910294, + -0.0334157720208168, + -2.6657681465148926, + 0.07820925861597061, + 0.15937963128089905 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp on bowl", + "subtask_reasoning": "The robot has approached the silver mixing bowl and closed its gripper around it. The gripper value indicates a secure grasp is being established. The next action is to confirm the grasp and prepare to lift the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27597007155418396, + 0.07855252921581268, + -0.022219255566596985, + -2.5538012981414795, + 0.11538466066122055, + 0.08443831652402878 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "secure grasp on bowl", + "subtask_reasoning": "The robot has approached the silver mixing bowl and closed its gripper around it. The gripper value indicates a secure grasp is being established. The next action is to confirm the grasp and prepare to lift the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper closed; then move forward 7 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2809925973415375, + 0.08598516136407852, + -0.01753580942749977, + -2.5051076412200928, + 0.11909590661525726, + 0.028647687286138535 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and translate bowl toward target", + "subtask_reasoning": "The robot has approached the silver mixing bowl and closed its gripper around it. The gripper value indicates a secure grasp is being established. The next action is to confirm the grasp and prepare to lift the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 8 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.29869988560676575, + 0.10714081674814224, + -0.008660969324409962, + -2.4905548095703125, + 0.09714201092720032, + 0.0388016551733017 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 175, + 356, + 345, + 541 + ], + "tape roll": [ + 520, + 427, + 613, + 540 + ], + "wooden table": [ + 5, + 249, + 740, + 972 + ], + "shoe": [ + 840, + 2, + 969, + 81 + ], + "metal lid": [ + 11, + 464, + 188, + 643 + ], + "yellow scrubber": [ + 340, + 639, + 546, + 786 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and translate bowl toward target", + "subtask_reasoning": "The robot has approached the silver mixing bowl and closed its gripper around it. The gripper value indicates a secure grasp is being established. The next action is to confirm the grasp and prepare to lift the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 6 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31605300307273865, + 0.11936425417661667, + -0.015254642814397812, + -2.497394323348999, + 0.11318705230951309, + 0.027700325474143028 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and translate bowl toward target", + "subtask_reasoning": "The robot has approached the silver mixing bowl and closed its gripper around it. The gripper value indicates a secure grasp is being established. The next action is to confirm the grasp and prepare to lift the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.33105015754699707, + 0.1358368992805481, + -0.01846359297633171, + -2.5078349113464355, + 0.11223768442869186, + 0.029451588168740273 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and translate bowl toward target", + "subtask_reasoning": "The robot has secured the silver mixing bowl and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the bowl is being held steady mid-air. The next action is to translate the bowl toward the top-left corner of the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3409523665904999, + 0.15186448395252228, + -0.021511781960725784, + -2.5209736824035645, + 0.12412893772125244, + 0.020650332793593407 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and translate bowl toward target", + "subtask_reasoning": "The robot has secured the silver mixing bowl and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the bowl is being held steady mid-air. The next action is to translate the bowl toward the top-left corner of the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.34544146060943604, + 0.16421204805374146, + -0.02277357690036297, + -2.517023801803589, + 0.13402576744556427, + -0.027805877849459648 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and translate bowl toward target", + "subtask_reasoning": "The robot has secured the silver mixing bowl and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the bowl is being held steady mid-air. The next action is to translate the bowl toward the top-left corner of the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34804201126098633, + 0.16940882802009583, + -0.02335136942565441, + -2.4950265884399414, + 0.1726905256509781, + -0.1039782166481018 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "lift and translate bowl toward target", + "subtask_reasoning": "The robot has secured the silver mixing bowl and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the bowl is being held steady mid-air. The next action is to translate the bowl toward the top-left corner of the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35523977875709534, + 0.170674666762352, + -0.030964305624365807, + -2.530482053756714, + 0.1529347449541092, + -0.1791987270116806 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "position bowl at target location", + "subtask_reasoning": "The robot has secured the silver mixing bowl and is currently lifting it above the table surface. The gripper remains closed with no further motion, indicating the bowl is being held steady mid-air. The next action is to translate the bowl toward the top-left corner of the table while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt right 10 degrees, open gripper; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.361813485622406, + 0.17760004103183746, + -0.03743470460176468, + -2.5817582607269287, + 0.11851848661899567, + -0.20827141404151917 + ], + "gripper_value": 0.07365728914737701 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow scrubber": [ + 340, + 638, + 545, + 786 + ], + "tape roll": [ + 519, + 427, + 613, + 540 + ], + "wooden table": [ + 5, + 245, + 738, + 967 + ], + "metal bowl": [ + 132, + 276, + 310, + 434 + ], + "shoe": [ + 840, + 2, + 968, + 81 + ], + "metal lid": [ + 12, + 464, + 190, + 643 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "position bowl at target location", + "subtask_reasoning": "The robot is currently holding the silver mixing bowl above the table, having successfully grasped and lifted it. The bowl is positioned near the center but needs to be moved further to the top-left corner to meet the target location. The next action should involve translating the bowl towards the top-left while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3663584589958191, + 0.1769069880247116, + -0.04081049561500549, + -2.612125873565674, + 0.11570634692907333, + -0.22523030638694763 + ], + "gripper_value": 0.10198938846588135 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "position bowl at target location", + "subtask_reasoning": "The robot is currently holding the silver mixing bowl above the table, having successfully grasped and lifted it. The bowl is positioned near the center but needs to be moved further to the top-left corner to meet the target location. The next action should involve translating the bowl towards the top-left while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36491039395332336, + 0.17776067554950714, + -0.04108443856239319, + -2.622023582458496, + 0.12958940863609314, + -0.23730726540088654 + ], + "gripper_value": 0.2868962287902832 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "position bowl at target location", + "subtask_reasoning": "The robot is currently holding the silver mixing bowl above the table, having successfully grasped and lifted it. The bowl is positioned near the center but needs to be moved further to the top-left corner to meet the target location. The next action should involve translating the bowl towards the top-left while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.36205947399139404, + 0.17638196051120758, + -0.04192041978240013, + -2.627563714981079, + 0.1303054243326187, + -0.23729264736175537 + ], + "gripper_value": 0.5373842120170593 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The robot is currently holding the silver mixing bowl above the table, having successfully grasped and lifted it. The bowl is positioned near the center but needs to be moved further to the top-left corner to meet the target location. The next action should involve translating the bowl towards the top-left while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35978928208351135, + 0.17651495337486267, + -0.0383213572204113, + -2.625943660736084, + 0.12598265707492828, + -0.22635617852210999 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The robot is currently holding the silver mixing bowl above the table, having successfully grasped and lifted it. The bowl is positioned near the center but needs to be moved further to the top-left corner to meet the target location. The next action should involve translating the bowl towards the top-left while maintaining a secure grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3548046052455902, + 0.17218437790870667, + -0.03294038772583008, + -2.6515536308288574, + 0.14725539088249207, + -0.23292896151542664 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The silver mixing bowl is positioned at the top left of the table, and the gripper is fully open (value ~1.0), indicating the release action is complete. The robot arm is currently hovering directly above the bowl. The next step is to retreat the arm away from the table to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35488373041152954, + 0.1660972386598587, + -0.012792588211596012, + -2.6793665885925293, + 0.12425101548433304, + -0.2594478726387024 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The silver mixing bowl is positioned at the top left of the table, and the gripper is fully open (value ~1.0), indicating the release action is complete. The robot arm is currently hovering directly above the bowl. The next step is to retreat the arm away from the table to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3537745773792267, + 0.1613127887248993, + 0.008912323042750359, + -2.689197301864624, + 0.08104342967271805, + -0.2651660144329071 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver mixing bowl to the top left of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and close gripper on bowl" + }, + { + "id": 2, + "subtask": "secure grasp on bowl" + }, + { + "id": 3, + "subtask": "lift and translate bowl toward target" + }, + { + "id": 4, + "subtask": "position bowl at target location" + }, + { + "id": 5, + "subtask": "release bowl and retreat" + } + ], + "subtask_name": "release bowl and retreat", + "subtask_reasoning": "The silver mixing bowl is positioned at the top left of the table, and the gripper is fully open (value ~1.0), indicating the release action is complete. The robot arm is currently hovering directly above the bowl. The next step is to retreat the arm away from the table to finish the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 28 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001005_ecot.json b/cot/chunk-0001/episode_0001005_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..be51151c8c139fca0a7804bf7c1d91ae5ef742c1 --- /dev/null +++ b/cot/chunk-0001/episode_0001005_ecot.json @@ -0,0 +1,1339 @@ +{ + "task_name": "episode_0001005", + "episode_json": "json/chunk-0001/episode_0001005.json", + "video_path": "videos/chunk-0001/image_0/episode_0001005.mp4", + "instruction": "Move the violet blanket to right side.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 22, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001005.json" + }, + "fps": 5.0, + "T_eff": 22, + "gripper_behavior_summary": { + "available": true, + "range": 0.0013275146484375, + "std": 0.0002766689576674253, + "delta_total": -0.0006645917892456055, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00133, std=0.00028, total_delta=-0.00066). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ], + [ + 3, + 20, + 21 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and make contact with blanket\", \"start\": 0, \"end\": 12, \"planning\": \"Move end-effector down toward the violet blanket on the wooden surface and establish initial contact without grasping.\"},\n {\"id\": 2, \"name\": \"push blanket rightward along surface\", \"start\": 13, \"end\": 19, \"planning\": \"Apply lateral force to slide the blanket toward the right side while maintaining surface contact, no lift or grasp involved.\"},\n {\"id\": 3, \"name\": \"finalize position and retreat slightly\", \"start\": 20, \"end\": 21, \"planning\": \"Complete the rightward displacement of the blanket and begin withdrawing the end-effector upward while releasing contact.\"}\n ],\n \"global_plan\": \"The robot pushes the violet blanket from its initial position on the left to the right side of the wooden surface using continuous surface contact, without any grasping or lifting motion.\",\n \"notes\": \"Gripper remains fully open throughout all segments (value ~1.0), confirming no grasp occurred; motion is purely translational pushing/sliding as evidenced by EE trajectory and lack of gripper closure.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and make contact with blanket", + "start": 0, + "end": 12, + "planning": "Move end-effector down toward the violet blanket on the wooden surface and establish initial contact without grasping." + }, + { + "id": 2, + "name": "push blanket rightward along surface", + "start": 13, + "end": 19, + "planning": "Apply lateral force to slide the blanket toward the right side while maintaining surface contact, no lift or grasp involved." + }, + { + "id": 3, + "name": "finalize position and retreat slightly", + "start": 20, + "end": 21, + "planning": "Complete the rightward displacement of the blanket and begin withdrawing the end-effector upward while releasing contact." + } + ], + "global_plan": "The robot pushes the violet blanket from its initial position on the left to the right side of the wooden surface using continuous surface contact, without any grasping or lifting motion.", + "notes": "Gripper remains fully open throughout all segments (value ~1.0), confirming no grasp occurred; motion is purely translational pushing/sliding as evidenced by EE trajectory and lack of gripper closure." + } + }, + "episode_goal": "Move the violet blanket to the right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2909628748893738, + -0.021211793646216393, + 0.08353647589683533, + -2.8895435333251953, + -0.3627433180809021, + -0.16189225018024445 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot is positioned above the wooden surface with the violet blanket visible on the left. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make surface contact with the blanket for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 15 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28865233063697815, + -0.021335400640964508, + 0.07453596591949463, + -2.8948826789855957, + -0.33108076453208923, + -0.16004228591918945 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot is positioned above the wooden surface with the violet blanket visible on the left. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make surface contact with the blanket for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 6 cm, move down 15 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29570236802101135, + 0.00648109894245863, + 0.04221763461828232, + -2.9343225955963135, + -0.24538548290729523, + -0.10707330703735352 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot is positioned above the wooden surface with the violet blanket visible on the left. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make surface contact with the blanket for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 11 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3067992031574249, + 0.029696835204958916, + 0.024242550134658813, + -2.970881462097168, + -0.22320863604545593, + -0.07406497746706009 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot is positioned above the wooden surface with the violet blanket visible on the left. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make surface contact with the blanket for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 3 cm, move down 10 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3081529438495636, + 0.05742822214961052, + -0.0014561526477336884, + -3.013399600982666, + -0.17755678296089172, + -0.0015776875661686063 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 538, + 664, + 956, + 993 + ], + "purple towel": [ + 275, + 550, + 535, + 834 + ], + "blue towel": [ + 491, + 223, + 722, + 448 + ] + } + } + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot is positioned above the wooden surface with the violet blanket visible on the left. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make surface contact with the blanket for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 6 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.304514080286026, + 0.05850587040185928, + -0.02174885757267475, + -3.042356014251709, + -0.12713681161403656, + -0.013341379351913929 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot is positioned above the wooden surface with the violet blanket visible on the left. No contact has been made yet, and the gripper remains open. The next action is to lower the end-effector to make surface contact with the blanket for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, keep gripper open; then move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2943018674850464, + 0.05714520812034607, + -0.03596734255552292, + -3.049816608428955, + -0.07762616872787476, + -0.007703582290560007 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 6 cm, move down 4 cm, tilt right 10 degrees, keep gripper open; then move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28616151213645935, + 0.05539965257048607, + -0.055030837655067444, + -3.0579512119293213, + -0.03173276036977768, + 0.0009237068006768823 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 2 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2828983664512634, + 0.05777038633823395, + -0.06329712271690369, + -3.0406460762023926, + -0.031021973118185997, + 0.016172243282198906 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2821332514286041, + 0.056678399443626404, + -0.06721733510494232, + -3.035863161087036, + -0.03305985406041145, + 0.02256014011800289 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27889397740364075, + 0.050191815942525864, + -0.07032257318496704, + -3.0671908855438232, + -0.04256616160273552, + 0.019766952842473984 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755863070487976, + 0.03922763839364052, + -0.07098346203565598, + -3.0949618816375732, + -0.05088457092642784, + 0.009932020679116249 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.27241232991218567, + 0.023698311299085617, + -0.07205119729042053, + -3.125077247619629, + -0.04479832947254181, + -0.017552392557263374 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "approach and make contact with blanket", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, keep gripper open; then move back 1 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2712458074092865, + 0.0007245315355248749, + -0.07183634489774704, + 3.1318819522857666, + -0.045770976692438126, + -0.07959453016519547 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 541, + 663, + 955, + 993 + ], + "purple towel": [ + 311, + 611, + 575, + 879 + ], + "blue towel": [ + 479, + 224, + 721, + 450 + ] + } + } + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "push blanket rightward along surface", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27042025327682495, + -0.01952124759554863, + -0.07191669940948486, + 3.1115729808807373, + -0.0485849566757679, + -0.1373232901096344 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "push blanket rightward along surface", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26985839009284973, + -0.04112384840846062, + -0.07115320861339569, + 3.0992565155029297, + -0.05216717720031738, + -0.20584836602210999 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "push blanket rightward along surface", + "subtask_reasoning": "The robot arm is positioned above the violet blanket on the wooden surface, with the gripper open and no contact yet established. The subtask requires moving the end-effector downward to make initial contact with the blanket for pushing. The next action is to lower the gripper slightly to touch the blanket surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.266800194978714, + -0.055798377841711044, + -0.07102425396442413, + 3.0997190475463867, + -0.0476934090256691, + -0.2672279477119446 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "laundry basket": [ + 538, + 664, + 955, + 993 + ], + "purple towel": [ + 398, + 681, + 684, + 934 + ], + "blue towel": [ + 550, + 224, + 723, + 451 + ] + } + } + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "push blanket rightward along surface", + "subtask_reasoning": "The robot arm is in contact with the violet blanket on the wooden surface, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the blanket rightward along the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2652350664138794, + -0.06292933225631714, + -0.07101436704397202, + 3.098454475402832, + -0.0478752925992012, + -0.2920168936252594 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "push blanket rightward along surface", + "subtask_reasoning": "The robot arm is in contact with the violet blanket on the wooden surface, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the blanket rightward along the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.26510682702064514, + -0.06257147341966629, + -0.06975685805082321, + 3.106179714202881, + -0.049733199179172516, + -0.29975655674934387 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "push blanket rightward along surface", + "subtask_reasoning": "The robot arm is in contact with the violet blanket on the wooden surface, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the blanket rightward along the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.261585533618927, + -0.0612872838973999, + -0.057646289467811584, + 3.1227502822875977, + -0.0750756710767746, + -0.3124004602432251 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "push blanket rightward along surface", + "subtask_reasoning": "The robot arm is in contact with the violet blanket on the wooden surface, having completed the approach phase. The gripper remains open with no closing evidence, indicating a pushing action rather than grasping. The next step is to continue sliding the blanket rightward along the surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26214736700057983, + -0.06166907399892807, + -0.03791921213269234, + -3.138702392578125, + -0.14975136518478394, + -0.34003251791000366 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "finalize position and retreat slightly", + "subtask_reasoning": "The violet blanket has been pushed to the right side of the wooden surface and is now in its target position. The robot arm is in contact with the blanket, having completed the pushing motion. The next action is to slightly retreat the arm while maintaining surface contact to finalize the blanket's position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 20, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.26477497816085815, + -0.06686767190694809, + -0.018483955413103104, + -3.126638650894165, + -0.2116246521472931, + -0.3654109835624695 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the violet blanket to the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and make contact with blanket" + }, + { + "id": 2, + "subtask": "push blanket rightward along surface" + }, + { + "id": 3, + "subtask": "finalize position and retreat slightly" + } + ], + "subtask_name": "finalize position and retreat slightly", + "subtask_reasoning": "The violet blanket has been pushed to the right side of the wooden surface and is now in its target position. The robot arm is in contact with the blanket, having completed the pushing motion. The next action is to slightly retreat the arm while maintaining surface contact to finalize the blanket's position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 20, + "end": 21 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001007_ecot.json b/cot/chunk-0001/episode_0001007_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..209c94e6b48cfc90d1253d168caeee80791c20ee --- /dev/null +++ b/cot/chunk-0001/episode_0001007_ecot.json @@ -0,0 +1,1256 @@ +{ + "task_name": "episode_0001007", + "episode_json": "json/chunk-0001/episode_0001007.json", + "video_path": "videos/chunk-0001/image_0/episode_0001007.mp4", + "instruction": "Put the blue towel into the basket.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 19, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001007.json" + }, + "fps": 5.0, + "T_eff": 19, + "gripper_behavior_summary": { + "available": true, + "range": 0.9070990681648254, + "std": 0.3888382315635681, + "delta_total": -0.07191091775894165, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.90710, std=0.38884, total_delta=-0.07191). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 109, + 117, + 117 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 8 + ], + [ + 3, + 9, + 16 + ], + [ + 4, + 17, + 18 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue towel\", \"start\": 0, \"end\": 2, \"planning\": \"Move the end-effector toward the blue towel on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue towel\", \"start\": 3, \"end\": 8, \"planning\": \"Close the gripper around the blue towel to secure a firm hold, confirmed by gripper closure and contact.\"},\n {\"id\": 3, \"name\": \"lift and move to basket\", \"start\": 9, \"end\": 16, \"planning\": \"Lift the grasped blue towel and transport it over the white basket for placement.\"},\n {\"id\": 4, \"name\": \"release towel into basket\", \"start\": 17, \"end\": 18, \"planning\": \"Open the gripper to release the blue towel into the basket, completing the task.\"}\n ],\n \"global_plan\": \"Approach the blue towel, grasp it securely, lift and move it over the basket, then release it inside.\",\n \"notes\": \"Subtasks align with observed motion segments and gripper evidence: no grasp in segment 1 (open gripper), grasp initiated in segment 2 (gripper closes), transport in segment 3, release in segment 4 (gripper opens). Frame coverage is contiguous and complete from 0 to 18.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue towel", + "start": 0, + "end": 2, + "planning": "Move the end-effector toward the blue towel on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue towel", + "start": 3, + "end": 8, + "planning": "Close the gripper around the blue towel to secure a firm hold, confirmed by gripper closure and contact." + }, + { + "id": 3, + "name": "lift and move to basket", + "start": 9, + "end": 16, + "planning": "Lift the grasped blue towel and transport it over the white basket for placement." + }, + { + "id": 4, + "name": "release towel into basket", + "start": 17, + "end": 18, + "planning": "Open the gripper to release the blue towel into the basket, completing the task." + } + ], + "global_plan": "Approach the blue towel, grasp it securely, lift and move it over the basket, then release it inside.", + "notes": "Subtasks align with observed motion segments and gripper evidence: no grasp in segment 1 (open gripper), grasp initiated in segment 2 (gripper closes), transport in segment 3, release in segment 4 (gripper opens). Frame coverage is contiguous and complete from 0 to 18." + } + }, + "episode_goal": "Grasp the blue towel on the table and place it into the white basket.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27034294605255127, + 0.015088184736669064, + 0.0312790647149086, + -3.1222472190856934, + -0.18874558806419373, + -0.17917418479919434 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot arm is positioned above the table with the blue towel and white basket visible below. No grasping has occurred yet as the gripper remains open. The next action should be to lower the arm toward the blue towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 8 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2676149606704712, + 0.013537820428609848, + 0.02539815753698349, + -3.127283811569214, + -0.16754737496376038, + -0.17593061923980713 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot arm is positioned above the table with the blue towel and white basket visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm needs to move closer to the blue towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 8 cm, close gripper; then move forward 3 cm, move right 1 cm, move up 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2648679316043854, + -0.02224714681506157, + 0.021693803369998932, + -3.1361517906188965, + -0.18047556281089783, + -0.2505432963371277 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "approach blue towel", + "subtask_reasoning": "The robot arm is positioned above the table with the blue towel and white basket visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm needs to move closer to the blue towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move down 8 cm, close gripper; then move forward 3 cm, move left 4 cm, move up 12 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 2 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 2 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2652217149734497, + -0.03518076613545418, + 0.007453396450728178, + 3.129455089569092, + -0.17468838393688202, + -0.24976769089698792 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "grasp blue towel", + "subtask_reasoning": "The robot arm is positioned above the table with the blue towel and white basket visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm needs to move closer to the blue towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 8 cm, close gripper; then move forward 2 cm, move left 8 cm, move up 13 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2647840082645416, + -0.040121547877788544, + -0.030795391649007797, + 3.0989861488342285, + -0.14092133939266205, + -0.20405316352844238 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 156, + 437, + 468, + 833 + ], + "wooden surface": [ + 46, + 470, + 954, + 996 + ], + "blue cloth": [ + 415, + 670, + 714, + 993 + ], + "yellow cloth": [ + 539, + 182, + 737, + 416 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "grasp blue towel", + "subtask_reasoning": "The robot arm is positioned above the table with the blue towel and white basket visible below. No actions have been completed yet as this is the initial approach phase. The gripper is open and the arm needs to move closer to the blue towel to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 4 cm, close gripper; then move left 10 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2655705511569977, + -0.040096305310726166, + -0.07608289271593094, + 3.0953640937805176, + -0.12493383139371872, + -0.1793118417263031 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "grasp blue towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel on the table, with the gripper open and ready. The approach phase is complete, and the arm is aligned for contact. The next action is to close the gripper to securely grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, close gripper; then move back 1 cm, move left 11 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27149373292922974, + -0.044921088963747025, + -0.07870324701070786, + 3.113128662109375, + -0.1427445411682129, + -0.20299756526947021 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "grasp blue towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel on the table, with the gripper open and ready. The approach phase is complete, and the arm is aligned for contact. The next action is to close the gripper to securely grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move left 11 cm, move up 11 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2753620147705078, + -0.045120153576135635, + -0.07922858744859695, + 3.1156668663024902, + -0.14840947091579437, + -0.20278200507164001 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "grasp blue towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel on the table, with the gripper open and ready. The approach phase is complete, and the arm is aligned for contact. The next action is to close the gripper to securely grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 1 cm, move left 11 cm, move up 11 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.27810198068618774, + -0.044739142060279846, + -0.0785687267780304, + 3.120028018951416, + -0.15811941027641296, + -0.19598355889320374 + ], + "gripper_value": 0.704176664352417 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "grasp blue towel", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel on the table, with the gripper open and ready. The approach phase is complete, and the arm is aligned for contact. The next action is to close the gripper to securely grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move back 1 cm, move left 11 cm, move up 11 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 3, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27742791175842285, + -0.04931491240859032, + -0.06967998296022415, + 3.1062276363372803, + -0.1542750746011734, + -0.1838468611240387 + ], + "gripper_value": 0.4094836115837097 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel on the table, with the gripper open and ready. The approach phase is complete, and the arm is aligned for contact. The next action is to close the gripper to securely grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 11 cm, move up 11 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2842138707637787, + -0.06213545799255371, + -0.04216906800866127, + 3.0327627658843994, + -0.1470307856798172, + -0.18650978803634644 + ], + "gripper_value": 0.19377118349075317 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel on the table, with the gripper open and ready. The approach phase is complete, and the arm is aligned for contact. The next action is to close the gripper to securely grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move up 8 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.30378004908561707, + -0.055974528193473816, + 0.011841091327369213, + 2.9660885334014893, + -0.24223999679088593, + -0.09550312906503677 + ], + "gripper_value": 0.1067313477396965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue towel on the table, with the gripper open and ready. The approach phase is complete, and the arm is aligned for contact. The next action is to close the gripper to securely grasp the towel." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 3 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30591607093811035, + -0.004954243544489145, + 0.050294142216444016, + 2.9097490310668945, + -0.2895142436027527, + 0.04000169411301613 + ], + "gripper_value": 0.09437843412160873 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot is currently holding the blue towel and moving it over the white basket. The gripper remains closed, indicating a secure grasp during the lift and transport phase. The next action is to lower the towel into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2925622761249542, + 0.029586929827928543, + 0.05737927928566933, + 2.9006707668304443, + -0.25450536608695984, + 0.05856102705001831 + ], + "gripper_value": 0.09437843412160873 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 401, + 399, + 615, + 655 + ], + "yellow cloth": [ + 522, + 184, + 736, + 419 + ], + "wooden surface": [ + 44, + 468, + 953, + 996 + ], + "white basket": [ + 156, + 436, + 493, + 833 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot is currently holding the blue towel and moving it over the white basket. The gripper remains closed, indicating a secure grasp during the lift and transport phase. The next action is to lower the towel into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move down 2 cm, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27586182951927185, + 0.054405637085437775, + 0.05504211038351059, + 2.9128363132476807, + -0.2028413563966751, + 0.013370594009757042 + ], + "gripper_value": 0.09437843412160873 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot is currently holding the blue towel and moving it over the white basket. The gripper remains closed, indicating a secure grasp during the lift and transport phase. The next action is to lower the towel into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26250067353248596, + 0.0559738427400589, + 0.045838333666324615, + 2.9399521350860596, + -0.17206944525241852, + -0.0577605701982975 + ], + "gripper_value": 0.12930262088775635 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot is currently holding the blue towel and moving it over the white basket. The gripper remains closed, indicating a secure grasp during the lift and transport phase. The next action is to lower the towel into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2621996998786926, + 0.06053878366947174, + 0.04030735418200493, + 2.993467092514038, + -0.1933465600013733, + -0.09678451716899872 + ], + "gripper_value": 0.329172819852829 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "lift and move to basket", + "subtask_reasoning": "The robot is currently holding the blue towel and moving it over the white basket. The gripper remains closed, indicating a secure grasp during the lift and transport phase. The next action is to lower the towel into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26602235436439514, + 0.058486200869083405, + 0.039677802473306656, + 3.011108636856079, + -0.21285754442214966, + -0.10626862943172455 + ], + "gripper_value": 0.6330026388168335 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "release towel into basket", + "subtask_reasoning": "The robot is positioned over the white basket with the blue towel held in the gripper. The gripper is currently closed, maintaining contact with the towel. The next action is to open the gripper to release the towel into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2682837247848511, + 0.04782917723059654, + 0.046040475368499756, + 3.023585557937622, + -0.22891373932361603, + -0.13005918264389038 + ], + "gripper_value": 0.9295665621757507 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the blue towel on the table and place it into the white basket." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue towel" + }, + { + "id": 2, + "subtask": "grasp blue towel" + }, + { + "id": 3, + "subtask": "lift and move to basket" + }, + { + "id": 4, + "subtask": "release towel into basket" + } + ], + "subtask_name": "release towel into basket", + "subtask_reasoning": "The robot is positioned over the white basket with the blue towel held in the gripper. The gripper is currently closed, maintaining contact with the towel. The next action is to open the gripper to release the towel into the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 18 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001010_ecot.json b/cot/chunk-0001/episode_0001010_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..ab5d0e882b874f77472bf416f7ff232e8a0a2b77 --- /dev/null +++ b/cot/chunk-0001/episode_0001010_ecot.json @@ -0,0 +1,2228 @@ +{ + "task_name": "episode_0001010", + "episode_json": "json/chunk-0001/episode_0001010.json", + "video_path": "videos/chunk-0001/image_0/episode_0001010.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001010.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.5086260437965393, + "std": 0.21981218457221985, + "delta_total": 0.012760281562805176, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.50863, std=0.21981, total_delta=0.01276). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector toward the carrot on the stovetop without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 8, \"end\": 21, \"planning\": \"Close gripper around carrot and secure hold as confirmed by gripper value drop to 0.52857.\"},\n {\"id\": 3, \"name\": \"lift and transport carrot\", \"start\": 22, \"end\": 30, \"planning\": \"Lift carrot from stovetop and move it toward the green plate while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place carrot on plate\", \"start\": 31, \"end\": 34, \"planning\": \"Release carrot onto green plate and open gripper fully as shown by gripper value returning to ~1.01687.\"}\n ],\n \"global_plan\": \"Approach carrot on stovetop, grasp it securely, lift and transport to green plate, then release it precisely on the plate.\",\n \"notes\": \"Segment 1 (frames 0-7) shows no gripper closure — only approach motion. Segment 2 (frames 8-34) includes meaningful gripper closing (value drops to 0.52857 at frame 21), confirming grasp; later reopening confirms placement. Subtasks are split to reflect distinct manipulation phases: approach, grasp, transport, place.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 7, + "planning": "Move end-effector toward the carrot on the stovetop without closing gripper." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 8, + "end": 21, + "planning": "Close gripper around carrot and secure hold as confirmed by gripper value drop to 0.52857." + }, + { + "id": 3, + "name": "lift and transport carrot", + "start": 22, + "end": 30, + "planning": "Lift carrot from stovetop and move it toward the green plate while maintaining grip." + }, + { + "id": 4, + "name": "place carrot on plate", + "start": 31, + "end": 34, + "planning": "Release carrot onto green plate and open gripper fully as shown by gripper value returning to ~1.01687." + } + ], + "global_plan": "Approach carrot on stovetop, grasp it securely, lift and transport to green plate, then release it precisely on the plate.", + "notes": "Segment 1 (frames 0-7) shows no gripper closure — only approach motion. Segment 2 (frames 8-34) includes meaningful gripper closing (value drops to 0.52857 at frame 21), confirming grasp; later reopening confirms placement. Subtasks are split to reflect distinct manipulation phases: approach, grasp, transport, place." + } + }, + "episode_goal": "Place the carrot on the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123416006565094, + 0.1047084704041481, + 0.11639533936977386, + -3.1011288166046143, + -0.4127143919467926, + 0.2539003789424896 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the stovetop with the carrot visible on the front burner and the green plate nearby. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 5 cm, move down 8 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.30828848481178284, + 0.10214824974536896, + 0.10609310865402222, + -3.102919101715088, + -0.3925471901893616, + 0.2362818866968155 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the stovetop with the carrot visible on the front burner and the green plate nearby. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move right 5 cm, move down 7 cm, tilt right 10 degrees, rotate counterclockwise 60 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2876907289028168, + 0.08785188943147659, + 0.10379993915557861, + -2.9861814975738525, + -0.5129610896110535, + -0.07462587207555771 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned near the stovetop with the carrot visible on the front burner and the green plate nearby. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 3 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 40 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.26536810398101807, + 0.07388308644294739, + 0.10243520885705948, + -2.8249852657318115, + -0.5633665919303894, + -0.4032312035560608 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 7 cm, tilt right 20 degrees, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24773487448692322, + 0.060357533395290375, + 0.09328622370958328, + -2.812859535217285, + -0.5624237656593323, + -0.5483320355415344 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 1 cm, move down 6 cm, tilt right 20 degrees, tilt forward 20 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23388536274433136, + 0.0483558364212513, + 0.0772886797785759, + -2.8009207248687744, + -0.5281428694725037, + -0.7084338068962097 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy carrot": [ + 161, + 579, + 427, + 728 + ], + "pot lid": [ + 455, + 397, + 652, + 557 + ], + "cardboard box": [ + 7, + 230, + 719, + 907 + ], + "sink": [ + 561, + 495, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.21840620040893555, + 0.04219457134604454, + 0.05670579522848129, + -2.8452301025390625, + -0.4191378355026245, + -0.7442782521247864 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 2 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.1983935683965683, + 0.04537156969308853, + 0.0402720645070076, + -2.9364473819732666, + -0.2673317790031433, + -0.7334856986999512 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.18948672711849213, + 0.05403042212128639, + 0.03384316712617874, + -2.950990676879883, + -0.15603159368038177, + -0.7732627391815186 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cardboard box": [ + 6, + 179, + 716, + 902 + ], + "toy knife": [ + 588, + 6, + 657, + 154 + ], + "pot lid": [ + 454, + 397, + 652, + 558 + ], + "sink": [ + 560, + 495, + 994, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1904609650373459, + 0.06074463948607445, + 0.030126135796308517, + -2.9612534046173096, + -0.10867089778184891, + -0.8163682818412781 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move up 2 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.1942024827003479, + 0.06415018439292908, + 0.0204356387257576, + -2.980393648147583, + -0.12259352952241898, + -0.8261875510215759 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move up 4 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.19541339576244354, + 0.0655299723148346, + 0.017214732244610786, + -2.978816509246826, + -0.12095300108194351, + -0.8350295424461365 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move up 7 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19901542365550995, + 0.06471365690231323, + 0.005743453744798899, + -2.9924025535583496, + -0.12810233235359192, + -0.8417387008666992 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. No objects have been grasped yet as the gripper remains open. The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move up 8 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.20935316383838654, + 0.0725114718079567, + 0.00039256876334547997, + -2.9688963890075684, + -0.16660678386688232, + -0.8573761582374573 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the orange carrot located on the front left burner. 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The next action is to continue moving the end-effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21191726624965668, + 0.07467968761920929, + -0.0026819203048944473, + -2.956610679626465, + -0.18611229956150055, + -0.8565675616264343 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. 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The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move up 9 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20874127745628357, + 0.07461827993392944, + -0.001090862089768052, + -2.9729437828063965, + -0.0869884267449379, + -0.8266029953956604 + ], + "gripper_value": 0.5100988745689392 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. 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The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 4 cm, move up 9 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 4 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.21154376864433289, + 0.06285031884908676, + 0.015151869505643845, + -2.945882797241211, + -0.04001251235604286, + -0.8172846436500549 + ], + "gripper_value": 0.5227190852165222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. 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The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 5 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22991660237312317, + 0.06002911180257797, + 0.049301519989967346, + -2.912700653076172, + 0.024998782202601433, + -0.8271253705024719 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy strawberry": [ + 139, + 285, + 236, + 401 + ], + "cardboard box": [ + 6, + 184, + 715, + 900 + ], + "pot lid": [ + 456, + 397, + 652, + 557 + ], + "sink": [ + 561, + 495, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current situation requires initiating the grasp. The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 5 cm, move down 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.24204571545124054, + 0.06037553772330284, + 0.06255131959915161, + -2.9041359424591064, + 0.023112958297133446, + -0.8511133193969727 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current situation requires initiating the grasp. The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 5 cm, move down 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637542486190796, + 0.04899105429649353, + 0.08262547850608826, + -2.8563754558563232, + 0.015031435526907444, + -0.9001514315605164 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current situation requires initiating the grasp. The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 1 cm, keep gripper closed; then move right 4 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.28337839245796204, + 0.0316743366420269, + 0.08937273919582367, + -2.808969736099243, + -0.009141435846686363, + -0.9733204245567322 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. 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The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, open gripper; then move back 1 cm, move left 1 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.30287182331085205, + 0.01557626947760582, + 0.07572369277477264, + -2.8116965293884277, + -0.04039748013019562, + -1.0085475444793701 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current situation requires initiating the grasp. The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, tilt forward 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.312849760055542, + 0.001261149882338941, + 0.06349173933267593, + -2.785698175430298, + -0.06674849987030029, + -1.0038124322891235 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current situation requires initiating the grasp. The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move up 1 cm, tilt forward 10 degrees, open gripper; then move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.31602370738983154, + -0.008627439849078655, + 0.05128413438796997, + -2.7847092151641846, + -0.053707148879766464, + -1.0333441495895386 + ], + "gripper_value": 0.5285724997520447 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot arm is positioned directly above the carrot on the stovetop, with the gripper open and ready to close. The approach phase is complete, and the current situation requires initiating the grasp. The next action is to close the gripper fingers to securely hold the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.31765177845954895, + -0.012125233188271523, + 0.04633225500583649, + -2.7953367233276367, + -0.06799433380365372, + -1.054187536239624 + ], + "gripper_value": 0.5799254179000854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot has grasped the carrot and is currently lifting it above the stovetop. The gripper is closed, and the carrot is being transported toward the green plate. The next action is to continue moving the carrot over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.31290119886398315, + -0.013284791260957718, + 0.042955365031957626, + -2.8124537467956543, + -0.07291371375322342, + -1.0358563661575317 + ], + "gripper_value": 0.8990517854690552 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot has grasped the carrot and is currently lifting it above the stovetop. The gripper is closed, and the carrot is being transported toward the green plate. The next action is to continue moving the carrot over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115132749080658, + -0.014213074930012226, + 0.04070938751101494, + -2.8084921836853027, + -0.07207216322422028, + -1.03449285030365 + ], + "gripper_value": 1.0187249183654785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot has grasped the carrot and is currently lifting it above the stovetop. The gripper is closed, and the carrot is being transported toward the green plate. The next action is to continue moving the carrot over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3062535524368286, + -0.016525685787200928, + 0.039978474378585815, + -2.826321840286255, + -0.04533611610531807, + -1.024776577949524 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot has grasped the carrot and is currently lifting it above the stovetop. The gripper is closed, and the carrot is being transported toward the green plate. The next action is to continue moving the carrot over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2957591116428375, + -0.01587671972811222, + 0.048096027225255966, + -2.844353675842285, + 0.004612886346876621, + -0.9940054416656494 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "lift and transport carrot", + "subtask_reasoning": "The robot has grasped the carrot and is currently lifting it above the stovetop. The gripper is closed, and the carrot is being transported toward the green plate. The next action is to continue moving the carrot over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open; then move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2833528220653534, + -0.012807014398276806, + 0.07372268289327621, + -2.820321798324585, + 0.0677165538072586, + -0.9346030950546265 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The robot has grasped the carrot and is currently lifting it above the stovetop. The gripper is closed, and the carrot is being transported toward the green plate. The next action is to continue moving the carrot over the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 8 cm, rotate clockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2770997881889343, + -0.005816582590341568, + 0.12340140342712402, + -2.781564474105835, + 0.05039055272936821, + -0.8285359740257263 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy strawberry": [ + 138, + 282, + 236, + 401 + ], + "cardboard box": [ + 6, + 177, + 719, + 907 + ], + "toy carrot": [ + 751, + 746, + 892, + 875 + ], + "sink": [ + 556, + 495, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The carrot is currently positioned directly above the green plate on the stovetop, with the gripper open and no closing motion detected in this segment. The approach and transport phases are complete, and the robot is now in the final positioning phase. The next action should be to lower the carrot slightly and release it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2695052921772003, + -0.002262731082737446, + 0.1455298662185669, + -2.7487199306488037, + 0.044557198882102966, + -0.7625874876976013 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The carrot is currently positioned directly above the green plate on the stovetop, with the gripper open and no closing motion detected in this segment. The approach and transport phases are complete, and the robot is now in the final positioning phase. The next action should be to lower the carrot slightly and release it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.261417955160141, + -0.012290610931813717, + 0.1527983844280243, + -2.7486560344696045, + -0.05255231633782387, + -0.6659836769104004 + ], + "gripper_value": 1.0168675184249878 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "lift and transport carrot" + }, + { + "id": 4, + "subtask": "place carrot on plate" + } + ], + "subtask_name": "place carrot on plate", + "subtask_reasoning": "The carrot is currently positioned directly above the green plate on the stovetop, with the gripper open and no closing motion detected in this segment. The approach and transport phases are complete, and the robot is now in the final positioning phase. The next action should be to lower the carrot slightly and release it onto the plate." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001011_ecot.json b/cot/chunk-0001/episode_0001011_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..9336cccc217d2135207f6e54892696caca1de690 --- /dev/null +++ b/cot/chunk-0001/episode_0001011_ecot.json @@ -0,0 +1,2194 @@ +{ + "task_name": "episode_0001011", + "episode_json": "json/chunk-0001/episode_0001011.json", + "video_path": "videos/chunk-0001/image_0/episode_0001011.mp4", + "instruction": "Metio el objeto amarrillo en las canasta de plata.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001011.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.3246082663536072, + "std": 0.15732161700725555, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.32461, std=0.15732, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 14 + ], + [ + 3, + 15, + 22 + ], + [ + 4, + 23, + 24 + ], + [ + 5, + 25, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach yellow object\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the yellow object on the stovetop without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp yellow object\", \"start\": 5, \"end\": 14, \"planning\": \"Close gripper around the yellow object and secure it for lifting, as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition over basket\", \"start\": 15, \"end\": 22, \"planning\": \"Lift the grasped yellow object and move it horizontally toward the silver basket area.\"},\n {\"id\": 4, \"name\": \"lower into basket\", \"start\": 23, \"end\": 24, \"planning\": \"Lower the held yellow object into the silver basket while maintaining grip, preparing for release.\"},\n {\"id\": 5, \"name\": \"release object and retreat\", \"start\": 25, \"end\": 32, \"planning\": \"Open gripper to release the yellow object into the basket, then retract end-effector upward and away.\"}\n ],\n \"global_plan\": \"Approach the yellow object on the stovetop, grasp it securely, lift and transport it to the silver basket, lower it in, release, and retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closure only in segments 2 and 5; segment 4 shows no closure but is part of controlled lowering with existing grasp. Segment 1 and 3 involve motion without grip change. All subtasks are contiguous and cover full trajectory [0,32].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach yellow object", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the yellow object on the stovetop without closing gripper." + }, + { + "id": 2, + "name": "grasp yellow object", + "start": 5, + "end": 14, + "planning": "Close gripper around the yellow object and secure it for lifting, as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition over basket", + "start": 15, + "end": 22, + "planning": "Lift the grasped yellow object and move it horizontally toward the silver basket area." + }, + { + "id": 4, + "name": "lower into basket", + "start": 23, + "end": 24, + "planning": "Lower the held yellow object into the silver basket while maintaining grip, preparing for release." + }, + { + "id": 5, + "name": "release object and retreat", + "start": 25, + "end": 32, + "planning": "Open gripper to release the yellow object into the basket, then retract end-effector upward and away." + } + ], + "global_plan": "Approach the yellow object on the stovetop, grasp it securely, lift and transport it to the silver basket, lower it in, release, and retreat.", + "notes": "Gripper evidence confirms meaningful closure only in segments 2 and 5; segment 4 shows no closure but is part of controlled lowering with existing grasp. Segment 1 and 3 involve motion without grip change. All subtasks are contiguous and cover full trajectory [0,32]." + } + }, + "episode_goal": "Pick up the yellow object and place it into the silver bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26860010623931885, + 0.10795505344867706, + 0.06963324546813965, + 3.122931957244873, + -0.22535060346126556, + -0.17382167279720306 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot is positioned near the stovetop where the yellow object is located. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 5 cm, move down 2 cm, keep gripper open; then move back 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.265851765871048, + 0.10658221691846848, + 0.06256549060344696, + 3.1067731380462646, + -0.20430870354175568, + -0.16887839138507843 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot is positioned near the stovetop where the yellow object is located. No grasping has occurred yet as the gripper remains open. The next action is to move the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26096031069755554, + 0.11771295964717865, + 0.061900198459625244, + 3.1174559593200684, + -0.19757138192653656, + -0.1477804332971573 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move down 2 cm, keep gripper open; then move back 3 cm, move left 1 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2513978183269501, + 0.13151220977306366, + 0.05712391808629036, + 3.1020023822784424, + -0.17655949294567108, + -0.12656739354133606 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tiled wall": [ + 309, + 1, + 997, + 425 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move back 3 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24506758153438568, + 0.14517410099506378, + 0.057360030710697174, + 3.1060914993286133, + -0.1856703907251358, + -0.09079661220312119 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "approach yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open; then move back 3 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24203906953334808, + 0.1546165943145752, + 0.04623918980360031, + -3.1371402740478516, + -0.1560952216386795, + -0.09046575427055359 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23946066200733185, + 0.15867458283901215, + 0.03369326516985893, + -3.124009132385254, + -0.12704916298389435, + -0.1007361188530922 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, close gripper; then move forward 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23412473499774933, + 0.15762916207313538, + 0.022341497242450714, + -3.1188442707061768, + -0.11122390627861023, + -0.10043929517269135 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move forward 4 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.22612637281417847, + 0.15758781135082245, + 0.012775999493896961, + -3.1046993732452393, + -0.08689388632774353, + -0.09944657981395721 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned above the stovetop, approaching the yellow object located on the left side. No grasping has occurred yet as the gripper remains fully open. The next action should continue moving the end-effector closer to the yellow object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, tilt back 10 degrees, keep gripper closed; then move forward 7 cm, move left 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21687057614326477, + 0.1584632396697998, + 0.0023812714498490095, + -3.1021010875701904, + -0.06163724511861801, + -0.09774374216794968 + ], + "gripper_value": 0.9437892436981201 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tiled wall": [ + 310, + 1, + 997, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 9 cm, move left 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.21467557549476624, + 0.15915630757808685, + 0.001813931274227798, + -3.085916042327881, + -0.08027764409780502, + -0.0975574254989624 + ], + "gripper_value": 0.6981924772262573 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 11 cm, move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.21526490151882172, + 0.15988782048225403, + 0.0021911882795393467, + -3.097602605819702, + -0.09601347148418427, + -0.08608326315879822 + ], + "gripper_value": 0.6791892647743225 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 13 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.215060293674469, + 0.16024957597255707, + 0.002939044963568449, + -3.1102633476257324, + -0.10057581216096878, + -0.08274244517087936 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 14 cm, move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.21480344235897064, + 0.15751253068447113, + 0.008780649863183498, + -3.136106014251709, + -0.11444149166345596, + -0.06976178288459778 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move forward 14 cm, move left 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.21474489569664001, + 0.15600261092185974, + 0.025349605828523636, + 3.133781909942627, + -0.1533597707748413, + -0.0703473836183548 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "grasp yellow object", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed; then move forward 14 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2235063761472702, + 0.15429629385471344, + 0.04674338549375534, + 3.109952449798584, + -0.20425665378570557, + -0.04405006766319275 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2395443171262741, + 0.15779098868370056, + 0.06365746259689331, + 3.1153624057769775, + -0.23395846784114838, + -0.04219677299261093 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 1 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.26459529995918274, + 0.16606010496616364, + 0.08330722153186798, + 3.093540906906128, + -0.2775978147983551, + -0.015752926468849182 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tiled wall": [ + 311, + 1, + 997, + 429 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot arm is positioned near the yellow object on the stovetop, with the gripper open and ready to grasp. The gripper signal indicates a closing motion has occurred in this segment, suggesting the robot is in the process of grasping the object. The next action is to complete the grasp by closing the gripper fully around the yellow object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move down 5 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2895630896091461, + 0.16806501150131226, + 0.08823490887880325, + 3.0928516387939453, + -0.2884334921836853, + -0.009418339468538761 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot has lifted the yellow object from the stovetop and is currently repositioning it above the silver basket. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to lower the object into the basket for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move down 6 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3085522949695587, + 0.16905613243579865, + 0.0802484080195427, + 3.0887646675109863, + -0.2746317982673645, + -0.001182132982648909 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot has lifted the yellow object from the stovetop and is currently repositioning it above the silver basket. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to lower the object into the basket for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 5 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.33022838830947876, + 0.16886365413665771, + 0.06811395287513733, + 3.0978143215179443, + -0.25867703557014465, + 0.009454943239688873 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot has lifted the yellow object from the stovetop and is currently repositioning it above the silver basket. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to lower the object into the basket for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.349692702293396, + 0.1643320918083191, + 0.05259857699275017, + 3.1206517219543457, + -0.23596978187561035, + -0.0019232615595683455 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot has lifted the yellow object from the stovetop and is currently repositioning it above the silver basket. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to lower the object into the basket for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.36085158586502075, + 0.16187641024589539, + 0.04238041490316391, + 3.135599136352539, + -0.22247692942619324, + -0.016675882041454315 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lift and reposition over basket", + "subtask_reasoning": "The robot has lifted the yellow object from the stovetop and is currently repositioning it above the silver basket. The gripper remains closed with no significant change, indicating continued secure contact. The next action is to lower the object into the basket for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36074167490005493, + 0.16407912969589233, + 0.032928045839071274, + -3.135504961013794, + -0.2083231806755066, + -0.02117561735212803 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lower into basket", + "subtask_reasoning": "The robot is currently holding the yellow object above the silver basket. The gripper signal indicates the object is secured, and the arm is positioned for the final placement. The next action is to lower the object into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3573196828365326, + 0.16643927991390228, + 0.027689926326274872, + -3.1235337257385254, + -0.20192372798919678, + -0.008385625667870045 + ], + "gripper_value": 0.6781873106956482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "lower into basket", + "subtask_reasoning": "The robot is currently holding the yellow object above the silver basket. The gripper signal indicates the object is secured, and the arm is positioned for the final placement. The next action is to lower the object into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35160836577415466, + 0.16920506954193115, + 0.01609896682202816, + 3.1383612155914307, + -0.17357034981250763, + 0.008641508407890797 + ], + "gripper_value": 0.7270174622535706 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object above the silver basket. The gripper signal indicates the object is secured, and the arm is positioned for the final placement. The next action is to lower the object into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3492591083049774, + 0.16715292632579803, + 0.015772279351949692, + 3.1229236125946045, + -0.1601618379354477, + 0.0053471787832677364 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object above the silver basket. The gripper signal indicates the object is secured, and the arm is positioned for the final placement. The next action is to lower the object into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3471018373966217, + 0.1674683392047882, + 0.015108291059732437, + 3.1271004676818848, + -0.1429990530014038, + 0.006341843865811825 + ], + "gripper_value": 1.0027955770492554 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The robot is currently holding the yellow object above the silver basket. The gripper signal indicates the object is secured, and the arm is positioned for the final placement. The next action is to lower the object into the basket and release it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3465921878814697, + 0.16631297767162323, + 0.015333650633692741, + 3.1216881275177, + -0.14159885048866272, + -0.0005219182930886745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed into the silver bowl, and the gripper is now open (value ~1.0), indicating release is complete. The robot arm remains positioned above the bowl, suggesting the next action is to retreat or move away from the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3453228771686554, + 0.16367681324481964, + 0.015538160689175129, + 3.10461688041687, + -0.13999146223068237, + -0.002461823867633939 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed into the silver bowl, and the gripper is now open (value ~1.0), indicating release is complete. The robot arm remains positioned above the bowl, suggesting the next action is to retreat or move away from the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move up 7 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457896113395691, + 0.15940679609775543, + 0.027973121032118797, + 3.0898003578186035, + -0.16366316378116608, + -0.013016346842050552 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed into the silver bowl, and the gripper is now open (value ~1.0), indicating release is complete. The robot arm remains positioned above the bowl, suggesting the next action is to retreat or move away from the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3424767255783081, + 0.15857471525669098, + 0.057756680995225906, + 3.100790500640869, + -0.22273953258991241, + -0.016649477183818817 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white tiled wall": [ + 308, + 1, + 998, + 428 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed into the silver bowl, and the gripper is now open (value ~1.0), indicating release is complete. The robot arm remains positioned above the bowl, suggesting the next action is to retreat or move away from the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302627503871918, + 0.1566610038280487, + 0.0835631713271141, + 3.089587450027466, + -0.2741371691226959, + -0.021876074373722076 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the yellow object and place it into the silver bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach yellow object" + }, + { + "id": 2, + "subtask": "grasp yellow object" + }, + { + "id": 3, + "subtask": "lift and reposition over basket" + }, + { + "id": 4, + "subtask": "lower into basket" + }, + { + "id": 5, + "subtask": "release object and retreat" + } + ], + "subtask_name": "release object and retreat", + "subtask_reasoning": "The yellow object has been successfully placed into the silver bowl, and the gripper is now open (value ~1.0), indicating release is complete. The robot arm remains positioned above the bowl, suggesting the next action is to retreat or move away from the target area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 25, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001012_ecot.json b/cot/chunk-0001/episode_0001012_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..640175297da2dd019fbce23f38d0436f9cf6d82e --- /dev/null +++ b/cot/chunk-0001/episode_0001012_ecot.json @@ -0,0 +1,2383 @@ +{ + "task_name": "episode_0001012", + "episode_json": "json/chunk-0001/episode_0001012.json", + "video_path": "videos/chunk-0001/image_0/episode_0001012.mp4", + "instruction": "Take cup off plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001012.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.794024646282196, + "std": 0.3472138047218323, + "delta_total": 0.0067168474197387695, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.79402, std=0.34721, total_delta=0.00672). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 18, + 30, + 130, + 130, + 130, + 130 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 4 + ], + [ + 3, + 5, + 17 + ], + [ + 4, + 18, + 29 + ], + [ + 5, + 30, + 30 + ], + [ + 6, + 31, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cup\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the red cup on the plate without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp cup\", \"start\": 5, \"end\": 17, \"planning\": \"Close the gripper around the cup handle and secure hold as confirmed by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and reposition cup\", \"start\": 18, \"end\": 29, \"planning\": \"Lift the cup off the plate and move it to a new position on the stovetop while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release cup\", \"start\": 30, \"end\": 30, \"planning\": \"Open the gripper to release the cup at its target location.\"},\n {\"id\": 5, \"name\": \"retreat from cup\", \"start\": 31, \"end\": 34, \"planning\": \"Move the end-effector away from the released cup to complete the task.\"}\n ],\n \"global_plan\": \"Approach the red cup on the plate, grasp it securely, lift and reposition it onto the stovetop surface, release it, then retreat to finish.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 3, 4, and 6; grasp/release wording is justified where images and motion align. Segment 1 shows no gripper activity — described as approach only. Full frame coverage maintained with contiguous ranges.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cup", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the red cup on the plate without closing the gripper." + }, + { + "id": 2, + "name": "grasp cup", + "start": 5, + "end": 17, + "planning": "Close the gripper around the cup handle and secure hold as confirmed by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and reposition cup", + "start": 18, + "end": 29, + "planning": "Lift the cup off the plate and move it to a new position on the stovetop while maintaining grip." + }, + { + "id": 4, + "name": "release cup", + "start": 30, + "end": 30, + "planning": "Open the gripper to release the cup at its target location." + }, + { + "id": 5, + "name": "retreat from cup", + "start": 31, + "end": 34, + "planning": "Move the end-effector away from the released cup to complete the task." + } + ], + "global_plan": "Approach the red cup on the plate, grasp it securely, lift and reposition it onto the stovetop surface, release it, then retreat to finish.", + "notes": "Gripper evidence confirms meaningful closing in segments 3, 4, and 6; grasp/release wording is justified where images and motion align. Segment 1 shows no gripper activity — described as approach only. Full frame coverage maintained with contiguous ranges." + } + }, + "episode_goal": "Grasp the red cup on the saucer and lift it off the plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102620244026184, + -0.02388862706720829, + 0.10523664951324463, + -3.1190483570098877, + -0.25441718101501465, + 7.031209679553285e-05 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup visible on a saucer to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the arm closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 8 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 11 cm, move down 2 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3050651252269745, + -0.023792965337634087, + 0.0969657227396965, + -3.1182918548583984, + -0.2167579084634781, + -0.011240878142416477 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot arm is positioned above the stovetop, with the red cup visible on a saucer to the left. No actions have been completed yet as the gripper remains open and stationary. The next step is to move the arm closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 11 cm, move down 3 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28400152921676636, + -0.00020163168665021658, + 0.10182201117277145, + -3.1287007331848145, + -0.1590222269296646, + -0.08924166113138199 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 11 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2591129243373871, + 0.02180372178554535, + 0.12628796696662903, + 3.1198112964630127, + -0.17481441795825958, + -0.15171796083450317 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 393, + 393, + 565, + 512 + ], + "cup": [ + 166, + 201, + 344, + 393 + ], + "saucer": [ + 189, + 289, + 367, + 427 + ], + "knob": [ + 68, + 678, + 172, + 802 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 1 cm, keep gripper open; then move left 10 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.24314087629318237, + 0.03663887456059456, + 0.13300246000289917, + 3.093949794769287, + -0.11672630906105042, + -0.19267915189266205 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "approach cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper open; then move left 10 cm, move down 6 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.24476347863674164, + 0.060525938868522644, + 0.13820530474185944, + -3.119178533554077, + -0.1686025857925415, + -0.22003327310085297 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.23809288442134857, + 0.08749517798423767, + 0.1335797905921936, + -3.088536262512207, + -0.14435163140296936, + -0.2577112317085266 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 8 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23863787949085236, + 0.10617993772029877, + 0.14392296969890594, + -3.068720579147339, + -0.1670418530702591, + -0.28757309913635254 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2417745292186737, + 0.13174092769622803, + 0.14164146780967712, + -3.060842275619507, + -0.1478395313024521, + -0.26244404911994934 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 9 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2471761554479599, + 0.15758076310157776, + 0.1305568814277649, + -3.0484471321105957, + -0.13989214599132538, + -0.20954720675945282 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cup": [ + 166, + 202, + 345, + 393 + ], + "banana": [ + 393, + 394, + 565, + 512 + ], + "saucer": [ + 191, + 290, + 367, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 8 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2502691149711609, + 0.1695334017276764, + 0.11850465834140778, + -3.0268900394439697, + -0.13751845061779022, + -0.190984308719635 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot is positioned above the stovetop, with the red cup visible on the saucer to the left. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end effector closer to the red cup to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 7 cm, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.24678941071033478, + 0.17277704179286957, + 0.10871657729148865, + -3.0344698429107666, + -0.09255412966012955, + -0.18923704326152802 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 6 cm, close gripper; then move forward 1 cm, move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2464619278907776, + 0.1715211719274521, + 0.09372467547655106, + -3.045597553253174, + -0.05437276139855385, + -0.1882212609052658 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 4 cm, close gripper; then move forward 1 cm, move right 3 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.24812352657318115, + 0.16403286159038544, + 0.08503822982311249, + -3.0750627517700195, + -0.061633672565221786, + -0.18613383173942566 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 6 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24818600714206696, + 0.1558634638786316, + 0.07537244260311127, + -3.0771238803863525, + -0.07205606251955032, + -0.1825036257505417 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, close gripper; then move right 10 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25177058577537537, + 0.1523447036743164, + 0.06803923100233078, + -3.0463035106658936, + -0.09205374866724014, + -0.18583719432353973 + ], + "gripper_value": 0.993436336517334 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 12 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2504381835460663, + 0.14937661588191986, + 0.05480743572115898, + -3.026724100112915, + -0.09591688215732574, + -0.189789816737175 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 15 cm, move up 5 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25346529483795166, + 0.14846709370613098, + 0.054555244743824005, + -3.026625633239746, + -0.11787287890911102, + -0.19219055771827698 + ], + "gripper_value": 0.6741776466369629 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "grasp cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move right 16 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24972820281982422, + 0.14513377845287323, + 0.053383249789476395, + -3.0538158416748047, + -0.09867245703935623, + -0.1790848970413208 + ], + "gripper_value": 0.3797435760498047 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 16 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25132280588150024, + 0.14250881969928741, + 0.05625680088996887, + -3.0785903930664062, + -0.10138256102800369, + -0.16778656840324402 + ], + "gripper_value": 0.21919596195220947 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 16 cm, move down 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.25131452083587646, + 0.1413165032863617, + 0.06092974543571472, + -3.067253828048706, + -0.10174388438463211, + -0.16323183476924896 + ], + "gripper_value": 0.20745283365249634 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 16 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2566048204898834, + 0.1359170526266098, + 0.08697686344385147, + -3.053734064102173, + -0.14552369713783264, + -0.15638750791549683 + ], + "gripper_value": 0.23329517245292664 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 15 cm, move down 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26006534695625305, + 0.11751879751682281, + 0.0994691252708435, + -3.06663179397583, + -0.14254900813102722, + -0.1771315187215805 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The robot has approached the red cup on the saucer, but the gripper remains fully open (value ~0.99) with no closing motion observed in the segment. The end-effector is positioned near the cup but has not yet made contact or initiated a grasp. The next action is to close the gripper to secure the cup." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 14 cm, move down 5 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2605816423892975, + 0.08131598681211472, + 0.10935641080141068, + -3.0593576431274414, + -0.1553489714860916, + -0.26604002714157104 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The red cup is currently grasped and lifted above the stovetop, having been successfully removed from the plate. The robot is in the process of repositioning the cup over the target surface. The next action is to lower the cup onto the stovetop to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.24794340133666992, + 0.04565662145614624, + 0.11101409792900085, + -3.058939218521118, + -0.16202996671199799, + -0.3676159381866455 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 393, + 395, + 565, + 513 + ], + "cup": [ + 388, + 120, + 515, + 339 + ], + "knob": [ + 69, + 678, + 173, + 798 + ], + "saucer": [ + 190, + 275, + 359, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The red cup is currently grasped and lifted above the stovetop, having been successfully removed from the plate. The robot is in the process of repositioning the cup over the target surface. The next action is to lower the cup onto the stovetop to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 6 cm, open gripper; then keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.24069328606128693, + 0.02197335846722126, + 0.10683123022317886, + -3.0818567276000977, + -0.1339857429265976, + -0.42634454369544983 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The red cup is currently grasped and lifted above the stovetop, having been successfully removed from the plate. The robot is in the process of repositioning the cup over the target surface. The next action is to lower the cup onto the stovetop to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, open gripper; then keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.23724186420440674, + -0.00017709161329548806, + 0.09877276420593262, + -3.096292734146118, + -0.11458908766508102, + -0.4552151560783386 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The red cup is currently grasped and lifted above the stovetop, having been successfully removed from the plate. The robot is in the process of repositioning the cup over the target surface. The next action is to lower the cup onto the stovetop to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 5 cm, tilt back 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23894137144088745, + -0.011259092018008232, + 0.07980804145336151, + -3.1126370429992676, + -0.0811413824558258, + -0.45870739221572876 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "cup": [ + 535, + 292, + 665, + 534 + ], + "saucer": [ + 190, + 272, + 366, + 427 + ], + "knob": [ + 69, + 677, + 173, + 800 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The red cup is currently grasped and lifted above the stovetop, having been successfully removed from the plate. The robot is in the process of repositioning the cup over the target surface. The next action is to lower the cup onto the stovetop to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, tilt back 10 degrees, open gripper; then keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2361568957567215, + -0.015916932374238968, + 0.05837620422244072, + -3.114736795425415, + -0.10840664058923721, + -0.4417685866355896 + ], + "gripper_value": 0.2365749180316925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The red cup is currently grasped and lifted above the stovetop, having been successfully removed from the plate. The robot is in the process of repositioning the cup over the target surface. The next action is to lower the cup onto the stovetop to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, tilt back 10 degrees, keep gripper open; then keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2325991690158844, + -0.017424479126930237, + 0.045473553240299225, + -3.0913126468658447, + -0.16477113962173462, + -0.42768123745918274 + ], + "gripper_value": 0.28468459844589233 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "lift and reposition cup", + "subtask_reasoning": "The red cup is currently grasped and lifted above the stovetop, having been successfully removed from the plate. The robot is in the process of repositioning the cup over the target surface. The next action is to lower the cup onto the stovetop to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23407210409641266, + -0.0180494524538517, + 0.05286451429128647, + -3.134101629257202, + -0.21712926030158997, + -0.3983756899833679 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "release cup", + "subtask_reasoning": "The red cup is already positioned on the stovetop surface, separate from the plate. The gripper is currently open and not in contact with the cup, indicating the release action is complete. The robot should now retreat from the scene to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 30 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 30 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.23205909132957458, + -0.017204439267516136, + 0.05705585703253746, + 3.126688003540039, + -0.21380206942558289, + -0.4022365212440491 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "retreat from cup", + "subtask_reasoning": "The red cup is already positioned on the stovetop surface, separate from the plate. The gripper is currently open and not in contact with the cup, indicating the release action is complete. The robot should now retreat from the scene to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.23443548381328583, + -0.017410289496183395, + 0.06585698574781418, + 3.1256723403930664, + -0.19922694563865662, + -0.4004952311515808 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "retreat from cup", + "subtask_reasoning": "The red cup has been successfully lifted and placed on the stovetop surface, with the gripper now open and no longer in contact. The robot arm is positioned above the cup, indicating completion of the placement. The next action is to retreat the arm away from the cup to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.23760420083999634, + -0.017342450097203255, + 0.08255204558372498, + 3.1294209957122803, + -0.18843187391757965, + -0.39220112562179565 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "retreat from cup", + "subtask_reasoning": "The red cup has been successfully lifted and placed on the stovetop surface, with the gripper now open and no longer in contact. The robot arm is positioned above the cup, indicating completion of the placement. The next action is to retreat the arm away from the cup to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24290217459201813, + -0.01363077387213707, + 0.10924818366765976, + 3.134978771209717, + -0.22109867632389069, + -0.3623497784137726 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red cup on the saucer and lift it off the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cup" + }, + { + "id": 2, + "subtask": "grasp cup" + }, + { + "id": 3, + "subtask": "lift and reposition cup" + }, + { + "id": 4, + "subtask": "release cup" + }, + { + "id": 5, + "subtask": "retreat from cup" + } + ], + "subtask_name": "retreat from cup", + "subtask_reasoning": "The red cup has been successfully lifted and placed on the stovetop surface, with the gripper now open and no longer in contact. The robot arm is positioned above the cup, indicating completion of the placement. The next action is to retreat the arm away from the cup to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 31, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001014_ecot.json b/cot/chunk-0001/episode_0001014_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..223bfb17dd36900a2a7ad031dba30b73d33b2a8d --- /dev/null +++ b/cot/chunk-0001/episode_0001014_ecot.json @@ -0,0 +1,2983 @@ +{ + "task_name": "episode_0001014", + "episode_json": "json/chunk-0001/episode_0001014.json", + "video_path": "videos/chunk-0001/image_0/episode_0001014.mp4", + "instruction": "Unfold the cloth from left to right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 41, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001014.json" + }, + "fps": 5.0, + "T_eff": 41, + "gripper_behavior_summary": { + "available": true, + "range": 0.9318140149116516, + "std": 0.4237867593765259, + "delta_total": -0.16479593515396118, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93181, std=0.42379, total_delta=-0.16480). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 115, + 115, + 115, + 115, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 215, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 315, + 339, + 339 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 14 + ], + [ + 3, + 15, + 18 + ], + [ + 4, + 19, + 28 + ], + [ + 5, + 29, + 38 + ], + [ + 6, + 39, + 40 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth left edge\", \"start\": 0, \"end\": 6, \"planning\": \"Move gripper toward the left side of the folded cloth without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"make contact and nudge left corner\", \"start\": 7, \"end\": 14, \"planning\": \"Gently contact and nudge the left corner of the cloth to initiate unfolding motion.\"},\n {\"id\": 3, \"name\": \"grasp and pull left edge rightward\", \"start\": 15, \"end\": 18, \"planning\": \"Close gripper to grasp the left edge of the cloth and begin pulling it rightward to unfold.\"},\n {\"id\": 4, \"name\": \"drag cloth right to unfold\", \"start\": 19, \"end\": 28, \"planning\": \"Maintain light contact while dragging the cloth rightward across the table to continue unfolding.\"},\n {\"id\": 5, \"name\": \"reposition and smooth cloth surface\", \"start\": 29, \"end\": 38, \"planning\": \"Adjust gripper position and lightly press or slide over the cloth to smooth out wrinkles after unfolding.\"},\n {\"id\": 6, \"name\": \"release and retreat from cloth\", \"start\": 39, \"end\": 40, \"planning\": \"Open gripper to release contact with the cloth and retreat upward to complete the task.\"}\n ],\n \"global_plan\": \"Unfold the cloth by first approaching and nudging the left edge, then grasping and dragging it rightward, followed by smoothing and releasing.\",\n \"notes\": \"Subtasks align with observed gripper behavior: no grasp in segments 1,2,4,5; grasp only in segment 3 (closing) and release in segment 6 (opening). Motion phases reflect actual unfolding progression from left to right.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth left edge", + "start": 0, + "end": 6, + "planning": "Move gripper toward the left side of the folded cloth without closing, preparing for contact." + }, + { + "id": 2, + "name": "make contact and nudge left corner", + "start": 7, + "end": 14, + "planning": "Gently contact and nudge the left corner of the cloth to initiate unfolding motion." + }, + { + "id": 3, + "name": "grasp and pull left edge rightward", + "start": 15, + "end": 18, + "planning": "Close gripper to grasp the left edge of the cloth and begin pulling it rightward to unfold." + }, + { + "id": 4, + "name": "drag cloth right to unfold", + "start": 19, + "end": 28, + "planning": "Maintain light contact while dragging the cloth rightward across the table to continue unfolding." + }, + { + "id": 5, + "name": "reposition and smooth cloth surface", + "start": 29, + "end": 38, + "planning": "Adjust gripper position and lightly press or slide over the cloth to smooth out wrinkles after unfolding." + }, + { + "id": 6, + "name": "release and retreat from cloth", + "start": 39, + "end": 40, + "planning": "Open gripper to release contact with the cloth and retreat upward to complete the task." + } + ], + "global_plan": "Unfold the cloth by first approaching and nudging the left edge, then grasping and dragging it rightward, followed by smoothing and releasing.", + "notes": "Subtasks align with observed gripper behavior: no grasp in segments 1,2,4,5; grasp only in segment 3 (closing) and release in segment 6 (opening). Motion phases reflect actual unfolding progression from left to right." + } + }, + "episode_goal": "Unfold the cloth from left to right.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3851376473903656, + -0.06295154243707657, + 0.10823799669742584, + 2.6859045028686523, + -0.25482046604156494, + 0.5467339754104614 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth folded on the right side. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector toward the left edge of the cloth to prepare for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 4 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 3 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38327595591545105, + -0.06341753154993057, + 0.0951385572552681, + 2.7068111896514893, + -0.22596724331378937, + 0.5402217507362366 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth folded on the right side. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector toward the left edge of the cloth to prepare for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3831733465194702, + -0.06288028508424759, + 0.09564736485481262, + 2.706554889678955, + -0.22591064870357513, + 0.5413317680358887 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the table with the cloth folded on the right side. The gripper is open and has not yet made contact with the cloth. The next action is to move the end-effector toward the left edge of the cloth to prepare for unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3839680552482605, + -0.0627766102552414, + 0.0948605090379715, + 2.701782703399658, + -0.22844377160072327, + 0.5498557090759277 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned near the left edge of the folded cloth on the table, with the gripper open and no contact yet made. No part of the unfolding task has been completed. The next action should be to move the gripper closer to make contact with the left edge of the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 3 cm, tilt left 10 degrees, tilt back 20 degrees, keep gripper open; then move forward 3 cm, move right 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.38881775736808777, + -0.06606610864400864, + 0.08645444363355637, + 2.6559739112854004, + -0.2917596995830536, + 0.6213589906692505 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned near the left edge of the folded cloth on the table, with the gripper open and no contact yet made. No part of the unfolding task has been completed. The next action should be to move the gripper closer to make contact with the left edge of the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3941773474216461, + -0.07272879034280777, + 0.08681158721446991, + 2.6783931255340576, + -0.3621908724308014, + 0.6771030426025391 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cube": [ + 173, + 370, + 248, + 462 + ], + "blue cloth": [ + 510, + 352, + 850, + 947 + ], + "banana": [ + 53, + 447, + 227, + 617 + ], + "wooden table": [ + 3, + 188, + 997, + 996 + ], + "blue cube": [ + 274, + 308, + 337, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned near the left edge of the folded cloth on the table, with the gripper open and no contact yet made. No part of the unfolding task has been completed. The next action should be to move the gripper closer to make contact with the left edge of the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.39885687828063965, + -0.07486448436975479, + 0.07755333185195923, + 2.7290728092193604, + -0.43778252601623535, + 0.7375966310501099 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned near the left edge of the folded cloth on the table, with the gripper open and no contact yet made. No part of the unfolding task has been completed. The next action should be to move the gripper closer to make contact with the left edge of the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper open; then move forward 4 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.40572595596313477, + -0.07806026190519333, + 0.06626276671886444, + 2.764740228652954, + -0.46492207050323486, + 0.7518357634544373 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot is positioned near the left edge of the folded cloth on the table, with the gripper open and no contact yet made. No part of the unfolding task has been completed. The next action should be to move the gripper closer to make contact with the left edge of the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 6 cm, tilt left 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.41608545184135437, + -0.07864010334014893, + 0.050895437598228455, + 2.791184186935425, + -0.46171751618385315, + 0.7477496862411499 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot is positioned near the left edge of the folded cloth on the table, with the gripper open and no contact yet made. No part of the unfolding task has been completed. The next action should be to move the gripper closer to make contact with the left edge of the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 4 cm, close gripper; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4250348210334778, + -0.08565742522478104, + 0.0399676188826561, + 2.805166006088257, + -0.45731714367866516, + 0.7396785616874695 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot is positioned near the left edge of the folded cloth on the table, with the gripper open and no contact yet made. No part of the unfolding task has been completed. The next action should be to move the gripper closer to make contact with the left edge of the cloth to prepare for dragging." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4309063255786896, + -0.09068915992975235, + 0.03230990096926689, + 2.8242719173431396, + -0.4576025605201721, + 0.7360913753509521 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with the left corner. The gripper is open, indicating no grasp yet, consistent with the 'nudge' phase. The next likely action is to gently push or adjust the left corner to prepare for grasping and dragging rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 2 cm, move left 3 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4348357617855072, + -0.09354057163000107, + 0.032536737620830536, + 2.8109915256500244, + -0.4479612112045288, + 0.745581865310669 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with the left corner. The gripper is open, indicating no grasp yet, consistent with the 'nudge' phase. The next likely action is to gently push or adjust the left corner to prepare for grasping and dragging rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 4 cm, move left 6 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4352012276649475, + -0.09343797713518143, + 0.0232599675655365, + 2.840583086013794, + -0.43130749464035034, + 0.7357414960861206 + ], + "gripper_value": 0.9327637553215027 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with the left corner. The gripper is open, indicating no grasp yet, consistent with the 'nudge' phase. The next likely action is to gently push or adjust the left corner to prepare for grasping and dragging rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 5 cm, move left 8 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.43924131989479065, + -0.09491376578807831, + 0.017970938235521317, + 2.8526134490966797, + -0.43338167667388916, + 0.7358264327049255 + ], + "gripper_value": 0.8481387495994568 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with the left corner. The gripper is open, indicating no grasp yet, consistent with the 'nudge' phase. The next likely action is to gently push or adjust the left corner to prepare for grasping and dragging rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 7 cm, move left 11 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.44252219796180725, + -0.09946762770414352, + 0.0070907012559473515, + 2.8770089149475098, + -0.42371517419815063, + 0.7366927266120911 + ], + "gripper_value": 0.6701657772064209 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 510, + 353, + 850, + 947 + ], + "orange cube": [ + 173, + 370, + 247, + 464 + ], + "banana": [ + 53, + 446, + 227, + 616 + ], + "black markers": [ + 626, + 739, + 682, + 911 + ], + "wooden table": [ + 2, + 185, + 997, + 996 + ], + "blue cube": [ + 274, + 309, + 337, + 402 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "make contact and nudge left corner", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with the left corner. The gripper is open, indicating no grasp yet, consistent with the 'nudge' phase. The next likely action is to gently push or adjust the left corner to prepare for grasping and dragging rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 9 cm, move left 14 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 14 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.44545501470565796, + -0.10029875487089157, + 0.005909961182624102, + 2.869035243988037, + -0.42048510909080505, + 0.7539854049682617 + ], + "gripper_value": 0.3840504586696625 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and pull left edge rightward", + "subtask_reasoning": "The robot has approached the left edge of the cloth and is now in contact with the left corner. The gripper is open, indicating no grasp yet, consistent with the 'nudge' phase. The next likely action is to gently push or adjust the left corner to prepare for grasping and dragging rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 10 cm, move left 16 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4454529285430908, + -0.10074552148580551, + 0.005872516427189112, + 2.8674185276031494, + -0.41886740922927856, + 0.7527380585670471 + ], + "gripper_value": 0.17405910789966583 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and pull left edge rightward", + "subtask_reasoning": "The robot has approached and made contact with the left edge of the cloth, as indicated by the gripper closing and positional adjustments. The current frame shows the gripper in contact with the cloth's left corner, ready to initiate the pull. The next action is to grasp the cloth firmly and begin dragging it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed; then move back 11 cm, move left 18 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.44281718134880066, + -0.10396088659763336, + 0.006177677307277918, + 2.848690986633301, + -0.38299232721328735, + 0.7419320344924927 + ], + "gripper_value": 0.08123486489057541 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and pull left edge rightward", + "subtask_reasoning": "The robot has approached and made contact with the left edge of the cloth, as indicated by the gripper closing and positional adjustments. The current frame shows the gripper in contact with the cloth's left corner, ready to initiate the pull. The next action is to grasp the cloth firmly and begin dragging it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 3 cm, keep gripper closed; then move back 12 cm, move left 18 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.44310417771339417, + -0.08609822392463684, + 0.030380627140402794, + 2.7777042388916016, + -0.34652888774871826, + 0.795466959476471 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and pull left edge rightward", + "subtask_reasoning": "The robot has approached and made contact with the left edge of the cloth, as indicated by the gripper closing and positional adjustments. The current frame shows the gripper in contact with the cloth's left corner, ready to initiate the pull. The next action is to grasp the cloth firmly and begin dragging it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, keep gripper closed; then move back 12 cm, move left 18 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 15, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4362565279006958, + -0.06626114994287491, + 0.0403936505317688, + 2.7387261390686035, + -0.31870222091674805, + 0.8131394386291504 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot has approached and made contact with the left edge of the cloth, as indicated by the gripper closing and positional adjustments. The current frame shows the gripper in contact with the cloth's left corner, ready to initiate the pull. The next action is to grasp the cloth firmly and begin dragging it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 18 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.41995444893836975, + -0.040766697376966476, + 0.03507936745882034, + 2.7368600368499756, + -0.2916114628314972, + 0.7972925901412964 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot has approached and made contact with the left edge of the cloth, as indicated by the gripper closing and positional adjustments. The current frame shows the gripper in contact with the cloth's left corner, ready to initiate the pull. The next action is to grasp the cloth firmly and begin dragging it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 15 cm, move down 1 cm, tilt forward 10 degrees, keep gripper closed; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.40079042315483093, + -0.009481038898229599, + 0.024887286126613617, + 2.748896360397339, + -0.2655113637447357, + 0.7876505255699158 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot has approached and made contact with the left edge of the cloth, as indicated by the gripper closing and positional adjustments. The current frame shows the gripper in contact with the cloth's left corner, ready to initiate the pull. The next action is to grasp the cloth firmly and begin dragging it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 12 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3816850185394287, + 0.01720021665096283, + 0.025389308109879494, + 2.735703229904175, + -0.26093003153800964, + 0.7633951902389526 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot has approached and made contact with the left edge of the cloth, as indicated by the gripper closing and positional adjustments. The current frame shows the gripper in contact with the cloth's left corner, ready to initiate the pull. The next action is to grasp the cloth firmly and begin dragging it rightward to unfold it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 9 cm, keep gripper closed; then move back 1 cm, move left 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3618033826351166, + 0.04677114635705948, + 0.024861561134457588, + 2.7144556045532227, + -0.24182464182376862, + 0.7589498162269592 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cube": [ + 172, + 370, + 248, + 463 + ], + "banana": [ + 52, + 446, + 226, + 616 + ], + "blue cloth": [ + 455, + 355, + 866, + 939 + ], + "blue cube": [ + 273, + 311, + 337, + 403 + ], + "wooden table": [ + 3, + 209, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, keep gripper closed; then move back 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.34906432032585144, + 0.07121328264474869, + 0.02959269843995571, + 2.687082290649414, + -0.23977072536945343, + 0.7504653930664062 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cube": [ + 173, + 370, + 248, + 463 + ], + "blue cloth": [ + 401, + 338, + 864, + 955 + ], + "banana": [ + 52, + 445, + 227, + 616 + ], + "wooden table": [ + 3, + 180, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3370818495750427, + 0.09415148198604584, + 0.029161037877202034, + 2.678999423980713, + -0.22679448127746582, + 0.743112325668335 + ], + "gripper_value": 0.0686454325914383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3268284797668457, + 0.10945449769496918, + 0.02771386317908764, + 2.675846576690674, + -0.21784484386444092, + 0.7472652792930603 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 2 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3201962113380432, + 0.11030647903680801, + 0.023524727672338486, + 2.691760540008545, + -0.20587186515331268, + 0.7344667911529541 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.31874361634254456, + 0.1094406321644783, + 0.023026304319500923, + 2.6919660568237305, + -0.18855516612529755, + 0.7455734014511108 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "drag cloth right to unfold", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move left 1 cm, move up 2 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 19, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3188358247280121, + 0.11038721352815628, + 0.02443440444767475, + 2.6638619899749756, + -0.16644787788391113, + 0.7918521165847778 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3156365752220154, + 0.12071274220943451, + 0.022984279319643974, + 2.652569532394409, + -0.16171713173389435, + 0.8706492185592651 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3134019672870636, + 0.12395991384983063, + 0.02249613031744957, + 2.6324596405029297, + -0.14316396415233612, + 0.9202966690063477 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3105059862136841, + 0.12580624222755432, + 0.02109270915389061, + 2.633065700531006, + -0.12731778621673584, + 0.9468949437141418 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot end-effector is in contact with the left edge of the folded blue cloth, having completed the approach and initial nudge. The gripper remains open with no closing evidence, indicating a pushing or dragging motion rather than grasping. The next action is to continue moving rightward to drag and unfold the cloth across the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 23 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.30573418736457825, + 0.12633205950260162, + 0.018000220879912376, + 2.6598565578460693, + -0.10929641872644424, + 0.9561302661895752 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot's end-effector is in contact with the left edge of the blue cloth, having completed the initial approach and nudge. The gripper is currently open, indicating the cloth is being smoothed or repositioned via contact rather than a firm grasp. The next likely action is to continue dragging or smoothing the cloth surface rightward to complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.29986572265625, + 0.124229796230793, + 0.014010201208293438, + 2.677351951599121, + -0.0808626040816307, + 0.9720197319984436 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot's end-effector is in contact with the left edge of the blue cloth, having completed the initial approach and nudge. The gripper is currently open, indicating the cloth is being smoothed or repositioned via contact rather than a firm grasp. The next likely action is to continue dragging or smoothing the cloth surface rightward to complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 4 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2967277467250824, + 0.1285637617111206, + 0.011258909478783607, + 2.731184244155884, + -0.14505574107170105, + 0.9731102585792542 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot's end-effector is in contact with the left edge of the blue cloth, having completed the initial approach and nudge. The gripper is currently open, indicating the cloth is being smoothed or repositioned via contact rather than a firm grasp. The next likely action is to continue dragging or smoothing the cloth surface rightward to complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.3012808561325073, + 0.12616008520126343, + 0.018990660086274147, + 2.765242099761963, + -0.22846640646457672, + 0.951275110244751 + ], + "gripper_value": 0.06833917647600174 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot's end-effector is in contact with the left edge of the blue cloth, having completed the initial approach and nudge. The gripper is currently open, indicating the cloth is being smoothed or repositioned via contact rather than a firm grasp. The next likely action is to continue dragging or smoothing the cloth surface rightward to complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3008314371109009, + 0.12259777635335922, + 0.02793099917471409, + 2.897552967071533, + -0.3225027024745941, + 0.9041656851768494 + ], + "gripper_value": 0.09216535091400146 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot's end-effector is in contact with the left edge of the blue cloth, having completed the initial approach and nudge. The gripper is currently open, indicating the cloth is being smoothed or repositioned via contact rather than a firm grasp. The next likely action is to continue dragging or smoothing the cloth surface rightward to complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.29908645153045654, + 0.11827313154935837, + 0.03950309380888939, + 3.0862393379211426, + -0.4140580892562866, + 0.7998794317245483 + ], + "gripper_value": 0.24590691924095154 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition and smooth cloth surface", + "subtask_reasoning": "The robot's end-effector is in contact with the left edge of the blue cloth, having completed the initial approach and nudge. The gripper is currently open, indicating the cloth is being smoothed or repositioned via contact rather than a firm grasp. The next likely action is to continue dragging or smoothing the cloth surface rightward to complete the unfolding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 38 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2974032163619995, + 0.12022840976715088, + 0.05023225396871567, + -3.0730111598968506, + -0.3992830514907837, + 0.7617570757865906 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The cloth is fully unfolded on the table with the gripper positioned above it, indicating the release phase is complete. The gripper is open and not in contact with the cloth, confirming successful release. The next action is to retreat the gripper away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 39, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2984796464443207, + 0.11421868205070496, + 0.05905338004231453, + -2.9816346168518066, + -0.3513111472129822, + 0.7395508289337158 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 206, + 341, + 850, + 943 + ], + "banana": [ + 50, + 439, + 231, + 619 + ], + "wooden table": [ + 3, + 173, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the cloth from left to right." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "make contact and nudge left corner" + }, + { + "id": 3, + "subtask": "grasp and pull left edge rightward" + }, + { + "id": 4, + "subtask": "drag cloth right to unfold" + }, + { + "id": 5, + "subtask": "reposition and smooth cloth surface" + }, + { + "id": 6, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The cloth is fully unfolded on the table with the gripper positioned above it, indicating the release phase is complete. The gripper is open and not in contact with the cloth, confirming successful release. The next action is to retreat the gripper away from the cloth to conclude the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 39, + "end": 40 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001015_ecot.json b/cot/chunk-0001/episode_0001015_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..fc2afcb0ce7a1c759d08f8a4263945b6c38f1461 --- /dev/null +++ b/cot/chunk-0001/episode_0001015_ecot.json @@ -0,0 +1,946 @@ +{ + "task_name": "episode_0001015", + "episode_json": "json/chunk-0001/episode_0001015.json", + "video_path": "videos/chunk-0001/image_0/episode_0001015.mp4", + "instruction": "Flip pot upright in sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001015.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.9413273930549622, + "std": 0.3805243670940399, + "delta_total": -0.5918809175491333, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94133, std=0.38052, total_delta=-0.59188). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 9, + 109, + 109, + 109, + 109, + 109 + ], + "seg_spans": [ + [ + 1, + 0, + 8 + ], + [ + 2, + 9, + 9 + ], + [ + 3, + 10, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp pot\", \"start\": 0, \"end\": 8, \"planning\": \"Move end-effector to contact the sideways pot in the sink and close gripper to secure hold.\"},\n {\"id\": 2, \"name\": \"initiate flip rotation\", \"start\": 9, \"end\": 9, \"planning\": \"Begin rotating the pot while maintaining grip to start flipping it upright.\"},\n {\"id\": 3, \"name\": \"complete flip and release\", \"start\": 10, \"end\": 14, \"planning\": \"Finish rotating pot to upright position, then open gripper to release it stably in the sink.\"}\n ],\n \"global_plan\": \"Flip the pot from sideways to upright in the sink by approaching, grasping, rotating, and releasing with controlled gripper motion.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.48) consistent with grasp; Segment 2 is a single-frame transition with no gripper change — treated as rotational initiation; Segment 3 shows gripper reopening (positive delta) consistent with release after flip.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp pot", + "start": 0, + "end": 8, + "planning": "Move end-effector to contact the sideways pot in the sink and close gripper to secure hold." + }, + { + "id": 2, + "name": "initiate flip rotation", + "start": 9, + "end": 9, + "planning": "Begin rotating the pot while maintaining grip to start flipping it upright." + }, + { + "id": 3, + "name": "complete flip and release", + "start": 10, + "end": 14, + "planning": "Finish rotating pot to upright position, then open gripper to release it stably in the sink." + } + ], + "global_plan": "Flip the pot from sideways to upright in the sink by approaching, grasping, rotating, and releasing with controlled gripper motion.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.48) consistent with grasp; Segment 2 is a single-frame transition with no gripper change — treated as rotational initiation; Segment 3 shows gripper reopening (positive delta) consistent with release after flip." + } + }, + "episode_goal": "Flip the pot upright in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26565447449684143, + -0.01833483576774597, + 0.025311721488833427, + -2.8595309257507324, + 0.07523001730442047, + 0.03158823028206825 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot lies on its side. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move down 3 cm, tilt left 30 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589040994644165, + -0.01719149947166443, + 0.013291625306010246, + -2.783717632293701, + 0.09863130748271942, + 0.02158517576754093 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot lies on its side. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 1 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed; then tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25926536321640015, + -0.02077065408229828, + 0.008600675500929356, + -2.667163848876953, + 0.05225369334220886, + -0.010761425830423832 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot lies on its side. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed; then tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.258634090423584, + -0.020638050511479378, + 0.000683613761793822, + -2.557630777359009, + 0.016561955213546753, + -0.03704322874546051 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue toy car": [ + 2, + 775, + 146, + 925 + ], + "yellow sponge": [ + 764, + 501, + 990, + 735 + ], + "sink": [ + 160, + 377, + 777, + 989 + ], + "carrot toy": [ + 77, + 495, + 183, + 665 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned above the sink where a metal pot lies on its side. The gripper is currently open and approaching the pot to establish a grasp. The next action is to close the gripper to secure the pot for rotation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, tilt left 10 degrees, tilt back 10 degrees, close gripper; then keep gripper closed; then tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.25913482904434204, + -0.013685685582458973, + -0.0064679598435759544, + -2.4577136039733887, + -0.013656891882419586, + -0.05254485830664635 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned over the sink with the gripper currently holding the metal pot sideways. Although the subtask is labeled 'approach and grasp,' the segment-level gripper evidence and visual confirmation indicate the pot is already securely grasped. The next logical step is to rotate the pot to an upright position while maintaining the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, close gripper; then keep gripper closed; then tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26097849011421204, + -0.0055951750837266445, + -0.009160906076431274, + -2.3881354331970215, + -0.03552522882819176, + -0.08771193772554398 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned over the sink with the gripper currently holding the metal pot sideways. Although the subtask is labeled 'approach and grasp,' the segment-level gripper evidence and visual confirmation indicate the pot is already securely grasped. The next logical step is to rotate the pot to an upright position while maintaining the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move up 1 cm, close gripper; then keep gripper closed; then tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2622354030609131, + 0.002735537476837635, + -0.009318841621279716, + -2.366560935974121, + -0.032897476106882095, + -0.11792906373739243 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned over the sink with the gripper currently holding the metal pot sideways. Although the subtask is labeled 'approach and grasp,' the segment-level gripper evidence and visual confirmation indicate the pot is already securely grasped. The next logical step is to rotate the pot to an upright position while maintaining the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move up 1 cm, keep gripper closed; then keep gripper closed; then tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629357576370239, + 0.013041437603533268, + -0.010295425541698933, + -2.3564207553863525, + -0.015367185696959496, + -0.14186763763427734 + ], + "gripper_value": 0.8158720135688782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned over the sink with the gripper currently holding the metal pot sideways. Although the subtask is labeled 'approach and grasp,' the segment-level gripper evidence and visual confirmation indicate the pot is already securely grasped. The next logical step is to rotate the pot to an upright position while maintaining the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 1 cm, keep gripper closed; then keep gripper closed; then tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2649032473564148, + 0.021585889160633087, + -0.0051121460273861885, + -2.381683349609375, + -0.015971507877111435, + -0.1508227288722992 + ], + "gripper_value": 0.5275958180427551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "approach and grasp pot", + "subtask_reasoning": "The robot arm is positioned over the sink with the gripper currently holding the metal pot sideways. Although the subtask is labeled 'approach and grasp,' the segment-level gripper evidence and visual confirmation indicate the pot is already securely grasped. The next logical step is to rotate the pot to an upright position while maintaining the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then keep gripper closed; then tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26649150252342224, + 0.02954932488501072, + -0.0013224303256720304, + -2.419588327407837, + -0.03029491752386093, + -0.1350201666355133 + ], + "gripper_value": 0.3461596965789795 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "initiate flip rotation", + "subtask_reasoning": "The robot has approached and grasped the pot, which is currently lying sideways in the sink. The gripper is in contact with the pot, and the arm is positioned to begin rotating it. The next action is to initiate a controlled rotation to flip the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2657428979873657, + 0.029742572456598282, + 0.0005670334794558585, + -2.4919028282165527, + -0.00473896786570549, + -0.1359320729970932 + ], + "gripper_value": 0.22939643263816833 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 159, + 367, + 781, + 989 + ], + "yellow sponge": [ + 764, + 502, + 990, + 736 + ], + "carrot toy": [ + 77, + 496, + 183, + 665 + ] + } + } + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The robot has approached and grasped the pot, which is currently lying sideways in the sink. The gripper is in contact with the pot, and the arm is positioned to begin rotating it. The next action is to initiate a controlled rotation to flip the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.26343244314193726, + 0.02557758241891861, + -0.0020819620694965124, + -2.602726697921753, + 0.04525996744632721, + -0.1431230902671814 + ], + "gripper_value": 0.08501782268285751 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The robot has approached and grasped the pot, which is currently lying sideways in the sink. The gripper is in contact with the pot, and the arm is positioned to begin rotating it. The next action is to initiate a controlled rotation to flip the pot upright." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618620991706848, + 0.02839362621307373, + -0.002386788371950388, + -2.663541078567505, + 0.07312801480293274, + -0.15282481908798218 + ], + "gripper_value": 0.06987876445055008 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The pot is currently held by the gripper and is nearly upright in the sink, with the flip rotation mostly completed. The gripper is still engaged, as supported by segment-level evidence. The next action is to release the pot gently to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26611071825027466, + 0.030983835458755493, + -0.0032194650266319513, + -2.6771180629730225, + 0.06408187001943588, + -0.18433281779289246 + ], + "gripper_value": 0.15975023806095123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The pot is currently held by the gripper and is nearly upright in the sink, with the flip rotation mostly completed. The gripper is still engaged, as supported by segment-level evidence. The next action is to release the pot gently to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26871323585510254, + 0.03259731084108353, + -0.003479811130091548, + -2.663285732269287, + 0.05061902105808258, + -0.20956197381019592 + ], + "gripper_value": 0.41932523250579834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Flip the pot upright in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp pot" + }, + { + "id": 2, + "subtask": "initiate flip rotation" + }, + { + "id": 3, + "subtask": "complete flip and release" + } + ], + "subtask_name": "complete flip and release", + "subtask_reasoning": "The pot is currently held by the gripper and is nearly upright in the sink, with the flip rotation mostly completed. The gripper is still engaged, as supported by segment-level evidence. The next action is to release the pot gently to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001017_ecot.json b/cot/chunk-0001/episode_0001017_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..cd27bb427bd4084a2c37d3ce95f8bd622c4d8abb --- /dev/null +++ b/cot/chunk-0001/episode_0001017_ecot.json @@ -0,0 +1,2440 @@ +{ + "task_name": "episode_0001017", + "episode_json": "json/chunk-0001/episode_0001017.json", + "video_path": "videos/chunk-0001/image_0/episode_0001017.mp4", + "instruction": "Grab the red object from the silver pot and put it on the left side burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001017.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.46938955783843994, + "std": 0.2209763377904892, + "delta_total": 0.009113907814025879, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.46939, std=0.22098, total_delta=0.00911). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 13 + ], + [ + 3, + 14, + 15 + ], + [ + 4, + 16, + 17 + ], + [ + 5, + 18, + 32 + ], + [ + 6, + 33, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the silver pot containing the red object without closing gripper.\"},\n {\"id\": 2, \"name\": \"position over object\", \"start\": 5, \"end\": 13, \"planning\": \"Adjust pose to align gripper above the red object inside the pot, preparing for contact.\"},\n {\"id\": 3, \"name\": \"make contact and secure\", \"start\": 14, \"end\": 15, \"planning\": \"Lower gripper to make contact with red object; gripper remains partially closed but no active grasping motion observed.\"},\n {\"id\": 4, \"name\": \"lift and reposition\", \"start\": 16, \"end\": 17, \"planning\": \"Lift red object out of pot while maintaining partial gripper closure; begin moving toward left burner.\"},\n {\"id\": 5, \"name\": \"transport to target\", \"start\": 18, \"end\": 32, \"planning\": \"Carry red object across workspace to left side burner area, adjusting trajectory as needed.\"},\n {\"id\": 6, \"name\": \"release and retreat\", \"start\": 33, \"end\": 33, \"planning\": \"Open gripper fully to release red object on left burner and withdraw end-effector.\"}\n ],\n \"global_plan\": \"Approach pot, position over red object, make contact, lift and transport to left burner, then release and retreat.\",\n \"notes\": \"Gripper evidence shows no meaningful closing in segments 1, 3, 4, and 6 — so grasp/pick/place terms are avoided unless images contradict. Segment 2 (frames 5-13) is inferred as positioning phase based on motion patterns and context. Final release at frame 33 is supported by full gripper opening and object placement visible in image.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the silver pot containing the red object without closing gripper." + }, + { + "id": 2, + "name": "position over object", + "start": 5, + "end": 13, + "planning": "Adjust pose to align gripper above the red object inside the pot, preparing for contact." + }, + { + "id": 3, + "name": "make contact and secure", + "start": 14, + "end": 15, + "planning": "Lower gripper to make contact with red object; gripper remains partially closed but no active grasping motion observed." + }, + { + "id": 4, + "name": "lift and reposition", + "start": 16, + "end": 17, + "planning": "Lift red object out of pot while maintaining partial gripper closure; begin moving toward left burner." + }, + { + "id": 5, + "name": "transport to target", + "start": 18, + "end": 32, + "planning": "Carry red object across workspace to left side burner area, adjusting trajectory as needed." + }, + { + "id": 6, + "name": "release and retreat", + "start": 33, + "end": 33, + "planning": "Open gripper fully to release red object on left burner and withdraw end-effector." + } + ], + "global_plan": "Approach pot, position over red object, make contact, lift and transport to left burner, then release and retreat.", + "notes": "Gripper evidence shows no meaningful closing in segments 1, 3, 4, and 6 — so grasp/pick/place terms are avoided unless images contradict. Segment 2 (frames 5-13) is inferred as positioning phase based on motion patterns and context. Final release at frame 33 is supported by full gripper opening and object placement visible in image." + } + }, + "episode_goal": "Grab the red object from the silver pot and put it on the left side burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26568880677223206, + 0.08609439432621002, + 0.04382852837443352, + -3.0600149631500244, + -0.08552727848291397, + 0.15601803362369537 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing a red object visible on the right burner. No actions have been completed yet as the arm has not made contact with the pot or object. The next step is to move the arm closer to the pot to prepare for grasping the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 11 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move down 5 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620285749435425, + 0.08463107794523239, + 0.03629371151328087, + -3.0637712478637695, + -0.05705863609910011, + 0.16085319221019745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the silver pot containing a red object visible on the right burner. No actions have been completed yet as the arm has not made contact with the pot or object. The next step is to move the arm closer to the pot to prepare for grasping the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 10 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26882630586624146, + 0.062076035887002945, + 0.032794609665870667, + -3.0752861499786377, + -0.05763937905430794, + 0.14977896213531494 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot containing the red object. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the red object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 8 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2807244658470154, + 0.03363160789012909, + 0.03403755649924278, + -3.1098763942718506, + -0.09575793147087097, + 0.10507576912641525 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot containing the red object. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the red object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move up 1 cm, keep gripper open; then move forward 5 cm, move left 1 cm, move down 7 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.286030650138855, + 0.0037657537031918764, + 0.03461144119501114, + -3.1258533000946045, + -0.11611171811819077, + 0.046940647065639496 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot containing the red object. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the red object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then move forward 5 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2971418499946594, + -0.019427912309765816, + 0.04039735347032547, + 3.1301543712615967, + -0.15457701683044434, + 0.03349541872739792 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot containing the red object. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the red object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper; then move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31296685338020325, + -0.034054096788167953, + 0.03102855384349823, + 3.1226272583007812, + -0.13521325588226318, + 0.038586366921663284 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 733, + 625, + 993, + 991 + ], + "orange cloth": [ + 467, + 448, + 753, + 690 + ], + "pot": [ + 527, + 415, + 737, + 639 + ] + } + } + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot containing the red object. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the red object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.33016279339790344, + -0.036770228296518326, + 0.024452807381749153, + 3.1112709045410156, + -0.1317974179983139, + 0.06450091302394867 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot containing the red object. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the red object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3364424407482147, + -0.035222385078668594, + 0.016508428379893303, + 3.121490001678467, + -0.11328621953725815, + 0.07170304656028748 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned above the stove, approaching the silver pot containing the red object. No contact or grasping has occurred yet as the gripper remains open. The next action is to continue moving the end-effector closer to the red object inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, close gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34026846289634705, + -0.030520841479301453, + 0.0020668532233685255, + 3.1257336139678955, + -0.07047807425260544, + 0.07375671714544296 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned directly above the red object inside the silver pot, with the gripper open and ready. The approach phase is complete, and the system is now aligned for contact. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.34245824813842773, + -0.018224874511361122, + -0.00665166275575757, + 3.1319668292999268, + -0.04818713292479515, + 0.10050231963396072 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned directly above the red object inside the silver pot, with the gripper open and ready. The approach phase is complete, and the system is now aligned for contact. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper closed; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3427050709724426, + -0.007529499940574169, + -0.02336038462817669, + 3.135779857635498, + -0.010044140741229057, + 0.1178189143538475 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned directly above the red object inside the silver pot, with the gripper open and ready. The approach phase is complete, and the system is now aligned for contact. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 6 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.34784170985221863, + -0.007617125753313303, + -0.02814878337085247, + 3.1325933933258057, + -0.009667912498116493, + 0.11338149756193161 + ], + "gripper_value": 0.6581199765205383 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned directly above the red object inside the silver pot, with the gripper open and ready. The approach phase is complete, and the system is now aligned for contact. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 8 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3480914533138275, + -0.007100650109350681, + -0.02814914472401142, + 3.1355111598968506, + -0.011528228409588337, + 0.12550482153892517 + ], + "gripper_value": 0.5472165942192078 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "position over object", + "subtask_reasoning": "The robot arm is positioned directly above the red object inside the silver pot, with the gripper open and ready. The approach phase is complete, and the system is now aligned for contact. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper closed; then move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 10 cm, move down 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 13 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34611257910728455, + -0.005902531091123819, + -0.02275797165930271, + -3.136498212814331, + -0.03328749164938927, + 0.1175246313214302 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and secure", + "subtask_reasoning": "The robot arm is positioned directly over the red object inside the silver pot, with the gripper open and aligned for contact. No grasping has occurred yet as per segment-level gripper evidence; the next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 10 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 14, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.34364619851112366, + -0.005871540401130915, + 0.007627052254974842, + -3.134760856628418, + -0.094014011323452, + 0.10987580567598343 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 733, + 625, + 993, + 992 + ], + "orange cloth": [ + 467, + 457, + 753, + 689 + ] + } + } + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and secure", + "subtask_reasoning": "The robot arm is positioned directly over the red object inside the silver pot, with the gripper open and aligned for contact. No grasping has occurred yet as per segment-level gripper evidence; the next action is to close the gripper to secure the object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper closed; then move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 14, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.34299999475479126, + 0.0052924989722669125, + 0.04103989154100418, + 3.136016607284546, + -0.1528121829032898, + 0.15470358729362488 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 7 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 4 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3447991609573364, + 0.04187054559588432, + 0.04823802411556244, + 3.1359751224517822, + -0.15235701203346252, + 0.2357119619846344 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 2 cm, keep gripper closed; then move back 4 cm, move left 8 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3458779454231262, + 0.07528609037399292, + 0.024916786700487137, + -3.1400372982025146, + -0.09558392316102982, + 0.2914932370185852 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 733, + 626, + 994, + 992 + ], + "pot": [ + 471, + 404, + 742, + 644 + ], + "orange cloth": [ + 468, + 458, + 754, + 691 + ] + } + } + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 8 cm, move down 6 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.35157668590545654, + 0.09959403425455093, + 0.013148355297744274, + -3.1212759017944336, + -0.08120869845151901, + 0.3183486759662628 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.35434702038764954, + 0.11852520704269409, + 0.002870680298656225, + -3.087214469909668, + -0.06085081771016121, + 0.3224625289440155 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.34809961915016174, + 0.1343042105436325, + -0.000775007123593241, + -3.0580224990844727, + -0.048303861171007156, + 0.3263534903526306 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33755388855934143, + 0.15751874446868896, + -0.0015506295021623373, + -3.029174566268921, + -0.04165717214345932, + 0.34704601764678955 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.32626649737358093, + 0.17144544422626495, + -0.00625648582354188, + -3.0236828327178955, + -0.026370031759142876, + 0.3629606366157532 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.32215261459350586, + 0.17106764018535614, + -0.016339989379048347, + -3.0201499462127686, + 0.0028523169457912445, + 0.3238866329193115 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The red object is currently inside the silver pot on the right burner. The gripper is positioned above the pot but has not yet made contact or closed, as indicated by the lack of gripper movement in the segment. The next action is to lower the gripper to make contact with the red object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3123508393764496, + 0.16361947357654572, + -0.026999127119779587, + -3.022782325744629, + 0.026623450219631195, + 0.26639243960380554 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3090187609195709, + 0.15891292691230774, + -0.02735739015042782, + -3.025517463684082, + 0.013361244462430477, + 0.25118041038513184 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30916571617126465, + 0.15896572172641754, + -0.027418924495577812, + -3.028958320617676, + 0.013699575327336788, + 0.23435695469379425 + ], + "gripper_value": 0.5462315082550049 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3128123879432678, + 0.15846475958824158, + -0.0301734060049057, + -3.042626142501831, + 0.019226783886551857, + 0.2141701728105545 + ], + "gripper_value": 0.6179407835006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.315750390291214, + 0.15940213203430176, + -0.028604216873645782, + -3.0456981658935547, + 0.03801509365439415, + 0.19392146170139313 + ], + "gripper_value": 0.9255412817001343 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31369495391845703, + 0.15812835097312927, + -0.028526119887828827, + -3.047743558883667, + 0.05314060300588608, + 0.1938282698392868 + ], + "gripper_value": 1.0156210660934448 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.30977657437324524, + 0.15207743644714355, + -0.028682570904493332, + -3.055234670639038, + 0.06338880211114883, + 0.1790778636932373 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30731719732284546, + 0.14282259345054626, + -0.0015590536640956998, + -3.0690174102783203, + -0.029751639813184738, + 0.18426941335201263 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "transport to target", + "subtask_reasoning": "The robot is currently holding the red object above the left side burner, having successfully lifted it from the silver pot. The gripper remains closed, indicating a secure grasp during this transport phase. The next action is to lower the object onto the burner surface to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 18, + "end": 32 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3022657036781311, + 0.12454372644424438, + 0.011966017074882984, + 3.1319994926452637, + -0.10930131375789642, + 0.19479906558990479 + ], + "gripper_value": 1.0099300146102905 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 735, + 626, + 994, + 992 + ], + "orange cloth": [ + 467, + 459, + 754, + 689 + ] + } + } + }, + "Understanding": { + "goal": "Grab the red object from the silver pot and put it on the left side burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "position over object" + }, + { + "id": 3, + "subtask": "make contact and secure" + }, + { + "id": 4, + "subtask": "lift and reposition" + }, + { + "id": 5, + "subtask": "transport to target" + }, + { + "id": 6, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The red object is already placed on the left burner, and the gripper is open and retreating upward. No grasping or placing action is occurring in this segment; the robot is completing the retreat phase after release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 33, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001018_ecot.json b/cot/chunk-0001/episode_0001018_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..509f9663f1cf1b47476b39365e5bb2c72319b6c9 --- /dev/null +++ b/cot/chunk-0001/episode_0001018_ecot.json @@ -0,0 +1,1723 @@ +{ + "task_name": "episode_0001018", + "episode_json": "json/chunk-0001/episode_0001018.json", + "video_path": "videos/chunk-0001/image_0/episode_0001018.mp4", + "instruction": "Move the white item in pot to towel.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 24, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001018.json" + }, + "fps": 5.0, + "T_eff": 24, + "gripper_behavior_summary": { + "available": true, + "range": 0.46963798999786377, + "std": 0.21668703854084015, + "delta_total": 0.0006598234176635742, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.46964, std=0.21669, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 12 + ], + [ + 3, + 13, + 15 + ], + [ + 4, + 16, + 19 + ], + [ + 5, + 20, + 23 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the pot containing the white item without closing gripper.\"},\n {\"id\": 2, \"name\": \"grasp white item\", \"start\": 5, \"end\": 12, \"planning\": \"Close gripper around the white item inside the pot and secure hold as evidenced by gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and transport\", \"start\": 13, \"end\": 15, \"planning\": \"Lift the grasped white item from the pot and move it horizontally toward the towel location.\"},\n {\"id\": 4, \"name\": \"position over towel\", \"start\": 16, \"end\": 19, \"planning\": \"Align the held white item above the green towel without releasing or changing grip state.\"},\n {\"id\": 5, \"name\": \"release on towel\", \"start\": 20, \"end\": 23, \"planning\": \"Open gripper to release the white item onto the towel, confirmed by gripper opening and final placement in image.\"}\n ],\n \"global_plan\": \"Approach pot, grasp white item, lift and transport to towel area, position above towel, then release item onto towel surface.\",\n \"notes\": \"Gripper evidence supports grasp only in segments 2 and 5; segment 4 shows no gripper change so 'hold' is maintained from prior grasp. All motions are contiguous and cover full trajectory.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the pot containing the white item without closing gripper." + }, + { + "id": 2, + "name": "grasp white item", + "start": 5, + "end": 12, + "planning": "Close gripper around the white item inside the pot and secure hold as evidenced by gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and transport", + "start": 13, + "end": 15, + "planning": "Lift the grasped white item from the pot and move it horizontally toward the towel location." + }, + { + "id": 4, + "name": "position over towel", + "start": 16, + "end": 19, + "planning": "Align the held white item above the green towel without releasing or changing grip state." + }, + { + "id": 5, + "name": "release on towel", + "start": 20, + "end": 23, + "planning": "Open gripper to release the white item onto the towel, confirmed by gripper opening and final placement in image." + } + ], + "global_plan": "Approach pot, grasp white item, lift and transport to towel area, position above towel, then release item onto towel surface.", + "notes": "Gripper evidence supports grasp only in segments 2 and 5; segment 4 shows no gripper change so 'hold' is maintained from prior grasp. All motions are contiguous and cover full trajectory." + } + }, + "episode_goal": "Move the white item from the pot to the green towel.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.34236055612564087, + 0.06966689229011536, + 0.0719781219959259, + 3.115885019302368, + -0.11015568673610687, + -0.1855616569519043 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the pot containing the white item visible to the left. No actions have been completed yet as this is the start of the episode. The robot needs to move its end-effector closer to the pot to prepare for grasping the white item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 1 cm, tilt left 10 degrees, keep gripper open; then move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33954569697380066, + 0.06853477656841278, + 0.06162216141819954, + 3.0987155437469482, + -0.07795526832342148, + -0.18909797072410583 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the stove with the pot containing the white item visible to the left. No actions have been completed yet as this is the start of the episode. The robot needs to move its end-effector closer to the pot to prepare for grasping the white item." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 9 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 6 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33684924244880676, + 0.07640958577394485, + 0.06690188497304916, + 3.08476185798645, + -0.06775815784931183, + -0.2354133576154709 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the pot containing the white item, with the green towel visible to the left. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end effector closer to the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33845511078834534, + 0.1034013107419014, + 0.08465629816055298, + 3.132345199584961, + -0.09911622852087021, + -0.281865656375885 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white object": [ + 218, + 272, + 336, + 368 + ], + "white tiled backsplash": [ + 418, + 2, + 996, + 428 + ], + "metal pot": [ + 118, + 203, + 365, + 452 + ], + "faucet": [ + 945, + 388, + 996, + 546 + ], + "black stovetop": [ + 107, + 235, + 730, + 747 + ], + "blue spatula": [ + 434, + 279, + 510, + 441 + ] + } + } + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the pot containing the white item, with the green towel visible to the left. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end effector closer to the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.33811110258102417, + 0.1298750787973404, + 0.09289097785949707, + -3.106268882751465, + -0.10723146796226501, + -0.28202569484710693 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned near the pot containing the white item, with the green towel visible to the left. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end effector closer to the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 1 cm, keep gripper open; then move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34206023812294006, + 0.1615365594625473, + 0.08216331899166107, + -3.0715725421905518, + -0.07171806693077087, + -0.2415914684534073 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot is positioned near the pot containing the white item, with the green towel visible to the left. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end effector closer to the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, close gripper; then move back 6 cm, move right 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35066553950309753, + 0.17275112867355347, + 0.059276435524225235, + -3.063490867614746, + -0.01766085997223854, + -0.225609689950943 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot is positioned near the pot containing the white item, with the green towel visible to the left. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end effector closer to the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601627051830292, + 0.176839217543602, + 0.043056171387434006, + -3.049788236618042, + 0.017488090321421623, + -0.2249774932861328 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot is positioned near the pot containing the white item, with the green towel visible to the left. No actions have been completed yet as this is the initial approach phase. The gripper remains open and stationary, indicating no grasping has occurred. The next action should involve moving the end effector closer to the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 2 cm, move right 1 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3601989150047302, + 0.17102457582950592, + 0.03687409684062004, + -3.0427770614624023, + 0.029195357114076614, + -0.23916848003864288 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot has approached the pot containing the white item, with the end-effector positioned above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3499246835708618, + 0.16438983380794525, + 0.024585630744695663, + -3.0450093746185303, + 0.0731092095375061, + -0.25170284509658813 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot has approached the pot containing the white item, with the end-effector positioned above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3395860195159912, + 0.15731020271778107, + 0.016278434544801712, + -3.0591280460357666, + 0.10695905238389969, + -0.25940537452697754 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot has approached the pot containing the white item, with the end-effector positioned above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3365108072757721, + 0.1525128334760666, + 0.01728038489818573, + -3.0857107639312744, + 0.08353687822818756, + -0.24837861955165863 + ], + "gripper_value": 0.6551066637039185 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot has approached the pot containing the white item, with the end-effector positioned above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353571891784668, + 0.16703581809997559, + 0.054362304508686066, + -3.097496747970581, + -0.010218637064099312, + -0.1718216836452484 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "grasp white item", + "subtask_reasoning": "The robot has approached the pot containing the white item, with the end-effector positioned above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, keep gripper closed; then move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move down 3 cm, open gripper; then move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.32869231700897217, + 0.1828031986951828, + 0.09305426478385925, + -3.1068997383117676, + -0.10717444866895676, + -0.09206142276525497 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white object": [ + 174, + 161, + 250, + 276 + ], + "faucet": [ + 945, + 388, + 996, + 545 + ], + "appliance front panel": [ + 51, + 630, + 659, + 994 + ], + "blue spatula": [ + 434, + 278, + 511, + 441 + ], + "black stovetop": [ + 106, + 242, + 730, + 746 + ], + "metal pot": [ + 122, + 198, + 366, + 440 + ], + "white tiled backsplash": [ + 308, + 2, + 997, + 429 + ] + } + } + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has approached the pot containing the white item, with the end-effector positioned above it. The gripper is currently open and ready to close. The next action is to close the gripper to grasp the white item inside the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 2 cm, move down 1 cm, keep gripper closed; then move right 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.30172839760780334, + 0.18726105988025665, + 0.11967574059963226, + -3.1043288707733154, + -0.16326525807380676, + -0.041235655546188354 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has grasped the white item from the pot and is currently lifting it, as indicated by the elevated end-effector position and lack of gripper movement. The item is being transported away from the stove area toward the towel. The next action is to continue moving the item horizontally toward the green towel's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 2 cm, move down 3 cm, tilt forward 10 degrees, keep gripper closed; then move right 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26474958658218384, + 0.17515000700950623, + 0.10333086550235748, + -3.1375091075897217, + -0.10751821100711823, + -0.03121408447623253 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "lift and transport", + "subtask_reasoning": "The robot has grasped the white item from the pot and is currently lifting it, as indicated by the elevated end-effector position and lack of gripper movement. The item is being transported away from the stove area toward the towel. The next action is to continue moving the item horizontally toward the green towel's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 2 cm, keep gripper closed; then move right 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.22570441663265228, + 0.16608285903930664, + 0.0866500660777092, + 3.1319167613983154, + -0.07612278312444687, + -0.0158408023416996 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 151, + 194, + 368, + 441 + ], + "faucet": [ + 945, + 387, + 996, + 545 + ], + "black stovetop": [ + 102, + 238, + 730, + 747 + ], + "appliance front panel": [ + 40, + 620, + 708, + 994 + ], + "white tiled backsplash": [ + 310, + 1, + 997, + 429 + ], + "blue spatula": [ + 433, + 278, + 512, + 441 + ] + } + } + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "position over towel", + "subtask_reasoning": "The robot has grasped the white item from the pot and is currently lifting it, as indicated by the elevated end-effector position and lack of gripper movement. The item is being transported away from the stove area toward the towel. The next action is to continue moving the item horizontally toward the green towel's location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 3 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20865634083747864, + 0.15425801277160645, + 0.06852254271507263, + 3.1069765090942383, + -0.04460562393069267, + -0.030955271795392036 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "position over towel", + "subtask_reasoning": "The robot arm is positioned above the green towel on the countertop, having transported the white item from the pot. The gripper remains open with no closing evidence in this segment, indicating the item has not yet been released. The next action should be to lower the arm slightly and release the white item onto the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 2 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2136121690273285, + 0.1458141952753067, + 0.0639772117137909, + 3.123074531555176, + -0.047109540551900864, + -0.04894969239830971 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "position over towel", + "subtask_reasoning": "The robot arm is positioned above the green towel on the countertop, having transported the white item from the pot. The gripper remains open with no closing evidence in this segment, indicating the item has not yet been released. The next action should be to lower the arm slightly and release the white item onto the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.22369517385959625, + 0.1390613615512848, + 0.060428861528635025, + 3.13789439201355, + -0.05678611621260643, + -0.058887727558612823 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "position over towel", + "subtask_reasoning": "The robot arm is positioned above the green towel on the countertop, having transported the white item from the pot. The gripper remains open with no closing evidence in this segment, indicating the item has not yet been released. The next action should be to lower the arm slightly and release the white item onto the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.23017001152038574, + 0.13327667117118835, + 0.05293002352118492, + -3.1357626914978027, + -0.04843677580356598, + -0.06678619980812073 + ], + "gripper_value": 0.6129248142242432 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "release on towel", + "subtask_reasoning": "The robot arm is positioned above the green towel on the countertop, having transported the white item from the pot. The gripper remains open with no closing evidence in this segment, indicating the item has not yet been released. The next action should be to lower the arm slightly and release the white item onto the towel surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.23293395340442657, + 0.13028384745121002, + 0.053247109055519104, + -3.1269190311431885, + -0.04753324016928673, + -0.07351218909025192 + ], + "gripper_value": 0.9116221070289612 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "release on towel", + "subtask_reasoning": "The white item is already resting on the green towel, indicating the release action has been completed. The gripper is open and positioned above the towel, confirming no further contact is needed. The subtask is effectively finished, and the next step would be to retract the arm or proceed to the next task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.23444166779518127, + 0.12571926414966583, + 0.053309813141822815, + -3.128244638442993, + -0.04450295865535736, + -0.07901713997125626 + ], + "gripper_value": 1.00800359249115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "release on towel", + "subtask_reasoning": "The white item is already resting on the green towel, indicating the release action has been completed. The gripper is open and positioned above the towel, confirming no further contact is needed. The subtask is effectively finished, and the next step would be to retract the arm or proceed to the next task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.23200851678848267, + 0.12272842228412628, + 0.061993200331926346, + -3.130068063735962, + -0.0455072745680809, + -0.07241442799568176 + ], + "gripper_value": 1.002137303352356 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the white item from the pot to the green towel." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp white item" + }, + { + "id": 3, + "subtask": "lift and transport" + }, + { + "id": 4, + "subtask": "position over towel" + }, + { + "id": 5, + "subtask": "release on towel" + } + ], + "subtask_name": "release on towel", + "subtask_reasoning": "The white item is already resting on the green towel, indicating the release action has been completed. The gripper is open and positioned above the towel, confirming no further contact is needed. The subtask is effectively finished, and the next step would be to retract the arm or proceed to the next task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 20, + "end": 23 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001019_ecot.json b/cot/chunk-0001/episode_0001019_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d49fa49e0f0e69766d5db701d5af042d7242eb75 --- /dev/null +++ b/cot/chunk-0001/episode_0001019_ecot.json @@ -0,0 +1,1627 @@ +{ + "task_name": "episode_0001019", + "episode_json": "json/chunk-0001/episode_0001019.json", + "video_path": "videos/chunk-0001/image_0/episode_0001019.mp4", + "instruction": "Move tin to the right side of the stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 27, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001019.json" + }, + "fps": 5.0, + "T_eff": 27, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 5.960464477539063e-08, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 9 + ], + [ + 3, + 10, + 26 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach tin\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector toward the tin can on the left side of the stove.\"},\n {\"id\": 2, \"name\": \"make contact with tin\", \"start\": 5, \"end\": 9, \"planning\": \"Position the gripper to make gentle contact with the tin can without closing.\"},\n {\"id\": 3, \"name\": \"slide tin to right\", \"start\": 10, \"end\": 26, \"planning\": \"Push or drag the tin can across the stove surface to the right side using continuous contact motion.\"}\n ],\n \"global_plan\": \"The robot approaches the tin can, makes contact without grasping, and slides it to the right side of the stove using sustained pushing motion.\",\n \"notes\": \"Gripper remains fully open throughout (value ~0.99882, no delta). No grasp, lift, or place actions are inferred. Motion is purely translational/contact-based sliding as supported by segment evidence and visual frames.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach tin", + "start": 0, + "end": 4, + "planning": "Move the end-effector toward the tin can on the left side of the stove." + }, + { + "id": 2, + "name": "make contact with tin", + "start": 5, + "end": 9, + "planning": "Position the gripper to make gentle contact with the tin can without closing." + }, + { + "id": 3, + "name": "slide tin to right", + "start": 10, + "end": 26, + "planning": "Push or drag the tin can across the stove surface to the right side using continuous contact motion." + } + ], + "global_plan": "The robot approaches the tin can, makes contact without grasping, and slides it to the right side of the stove using sustained pushing motion.", + "notes": "Gripper remains fully open throughout (value ~0.99882, no delta). No grasp, lift, or place actions are inferred. Motion is purely translational/contact-based sliding as supported by segment evidence and visual frames." + } + }, + "episode_goal": "Move the tin to the right side of the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35472211241722107, + 0.04760957509279251, + 0.097787044942379, + 2.955639600753784, + -0.16213524341583252, + 1.5065138339996338 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "approach tin", + "subtask_reasoning": "The robot is positioned above the stove with the tin can visible on the left side. No movement or contact has occurred yet. The next action should be to move the end effector toward the tin can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 12 cm, move up 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.35332614183425903, + 0.047482650727033615, + 0.08733639866113663, + 2.9851129055023193, + -0.15815378725528717, + 1.5000977516174316 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "approach tin", + "subtask_reasoning": "The robot is positioned above the stove with the tin can visible on the left side. No movement or contact has occurred yet. The next action should be to move the end effector toward the tin can to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 12 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.34647971391677856, + 0.07377428561449051, + 0.08544508367776871, + 3.0038411617279053, + -0.15380296111106873, + 1.5516331195831299 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "approach tin", + "subtask_reasoning": "The robot is approaching the tin can located on the left side of the stove. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the tin to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 2 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3449663519859314, + 0.10922735929489136, + 0.09620055556297302, + 2.9907116889953613, + -0.19628040492534637, + 1.6147868633270264 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "approach tin", + "subtask_reasoning": "The robot is approaching the tin can located on the left side of the stove. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the tin to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 6 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462072014808655, + 0.13809886574745178, + 0.10611709952354431, + 2.957707405090332, + -0.24103884398937225, + 1.662845492362976 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "approach tin", + "subtask_reasoning": "The robot is approaching the tin can located on the left side of the stove. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the tin to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open; then move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 7 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.34927183389663696, + 0.1714717149734497, + 0.10838136076927185, + 2.96157169342041, + -0.27757206559181213, + 1.7000389099121094 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange toy food": [ + 281, + 567, + 454, + 734 + ], + "purple cloth": [ + 74, + 332, + 333, + 623 + ], + "soup": [ + 226, + 167, + 377, + 386 + ], + "sink": [ + 759, + 454, + 993, + 963 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "make contact with tin", + "subtask_reasoning": "The robot is approaching the tin can located on the left side of the stove. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the tin to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 8 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3576357364654541, + 0.19468900561332703, + 0.10834276676177979, + 3.0046768188476562, + -0.3284594714641571, + 1.708503007888794 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "make contact with tin", + "subtask_reasoning": "The robot is approaching the tin can located on the left side of the stove. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the tin to initiate contact for sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move right 10 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.36324673891067505, + 0.2035369724035263, + 0.09812537580728531, + 3.0215303897857666, + -0.326770544052124, + 1.6620627641677856 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "make contact with tin", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 12 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36162665486335754, + 0.2081073522567749, + 0.09505224972963333, + 3.035771369934082, + -0.3313687741756439, + 1.623356819152832 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "make contact with tin", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 3 cm, keep gripper open; then move back 2 cm, move right 14 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3582633435726166, + 0.2077609896659851, + 0.0818386971950531, + 3.0564539432525635, + -0.3065282106399536, + 1.559582233428955 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "make contact with tin", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper open; then move back 2 cm, move right 16 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.35830017924308777, + 0.20224739611148834, + 0.06801081448793411, + 3.0733089447021484, + -0.266448050737381, + 1.533445954322815 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 18 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3584366738796234, + 0.19491896033287048, + 0.051569096744060516, + 3.101839303970337, + -0.2074834257364273, + 1.498420238494873 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 19 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.36153823137283325, + 0.18110013008117676, + 0.04732529819011688, + 3.1128857135772705, + -0.19271692633628845, + 1.4517902135849 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 20 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3659855127334595, + 0.1507049947977066, + 0.04339302331209183, + 3.1012659072875977, + -0.16347846388816833, + 1.3930331468582153 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 16 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3673011362552643, + 0.12916706502437592, + 0.048681311309337616, + 3.092580795288086, + -0.15524648129940033, + 1.3537362813949585 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange toy food": [ + 281, + 567, + 455, + 734 + ], + "purple cloth": [ + 74, + 330, + 333, + 623 + ], + "sink": [ + 761, + 453, + 993, + 964 + ], + "soup": [ + 321, + 207, + 470, + 431 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 13 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3612738847732544, + 0.11860622465610504, + 0.04487922787666321, + 3.1001505851745605, + -0.14161165058612823, + 1.3291757106781006 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 12 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577902019023895, + 0.09854543954133987, + 0.04538566246628761, + 3.1021459102630615, + -0.1313331127166748, + 1.2803126573562622 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 10 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3470134735107422, + 0.07994295656681061, + 0.041243113577365875, + 3.1219592094421387, + -0.10539062321186066, + 1.2378268241882324 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot has approached the tin can on the stove and is now making contact with it. The gripper remains open, indicating no grasp has occurred yet. The next action is to initiate a pushing motion to slide the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3372754454612732, + 0.05975779518485069, + 0.04244149103760719, + 3.123244285583496, + -0.0929756760597229, + 1.1802831888198853 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move up 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3336040675640106, + 0.04320065677165985, + 0.039169181138277054, + 3.115191698074341, + -0.08268843591213226, + 1.1500575542449951 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.32732951641082764, + 0.01858157478272915, + 0.03941432759165764, + 3.1118361949920654, + -0.07462352514266968, + 1.0949418544769287 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.31914666295051575, + 0.00014848849968984723, + 0.038722388446331024, + 3.1166999340057373, + -0.07004391402006149, + 1.0618995428085327 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange toy food": [ + 280, + 567, + 455, + 734 + ], + "soup": [ + 472, + 375, + 645, + 642 + ], + "sink": [ + 758, + 452, + 993, + 962 + ], + "purple cloth": [ + 73, + 329, + 333, + 624 + ] + } + } + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3101157248020172, + -0.014002959243953228, + 0.04135451093316078, + 3.119363784790039, + -0.06474591791629791, + 1.0154005289077759 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3114711344242096, + -0.01421219203621149, + 0.04256445914506912, + 3.1164143085479736, + -0.07476503401994705, + 1.026097059249878 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3173101842403412, + -0.004586877766996622, + 0.04776528477668762, + 3.126681089401245, + -0.12655039131641388, + 1.0380645990371704 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3227575719356537, + 0.0010524903191253543, + 0.07086054235696793, + 3.0937814712524414, + -0.1629892885684967, + 1.0628888607025146 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3243854343891144, + 0.002070085844025016, + 0.10233476758003235, + 3.011507272720337, + -0.14247462153434753, + 1.0725457668304443 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the tin to the right side of the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach tin" + }, + { + "id": 2, + "subtask": "make contact with tin" + }, + { + "id": 3, + "subtask": "slide tin to right" + } + ], + "subtask_name": "slide tin to right", + "subtask_reasoning": "The robot is in contact with the tin can on the stove, having completed the approach and initial contact. The gripper remains open with no grasp evidence, indicating a pushing motion is being used. The next action is to continue sliding the tin to the right side of the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 26 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001022_ecot.json b/cot/chunk-0001/episode_0001022_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..46d7fa7e613954989bcc1f8696b72330c8e020a8 --- /dev/null +++ b/cot/chunk-0001/episode_0001022_ecot.json @@ -0,0 +1,2312 @@ +{ + "task_name": "episode_0001022", + "episode_json": "json/chunk-0001/episode_0001022.json", + "video_path": "videos/chunk-0001/image_0/episode_0001022.mp4", + "instruction": "Put the carrot on the green cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 36, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001022.json" + }, + "fps": 5.0, + "T_eff": 36, + "gripper_behavior_summary": { + "available": true, + "range": 0.3640715479850769, + "std": 0.17382903397083282, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.36407, std=0.17383, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 0, + 0, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 2 + ], + [ + 2, + 3, + 4 + ], + [ + 3, + 5, + 17 + ], + [ + 4, + 18, + 19 + ], + [ + 5, + 20, + 23 + ], + [ + 6, + 24, + 35 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot in bowl\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector from initial position toward the bowl containing the carrot, preparing for interaction.\"},\n {\"id\": 2, \"name\": \"grasp carrot with gripper\", \"start\": 5, \"end\": 17, \"planning\": \"Close gripper around the carrot inside the metal bowl and secure hold as confirmed by gripper closure and visual evidence.\"},\n {\"id\": 3, \"name\": \"lift and reposition over cloth\", \"start\": 18, \"end\": 23, \"planning\": \"Lift the grasped carrot out of the bowl and move it horizontally toward the green cloth while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place carrot on green cloth\", \"start\": 24, \"end\": 35, \"planning\": \"Lower the carrot onto the green cloth and release grip, completing placement as shown by final frame and gripper opening.\"}\n ],\n \"global_plan\": \"Approach the carrot in the bowl, grasp it securely, lift and transport it to the green cloth, then place it down gently.\",\n \"notes\": \"Subtask boundaries align with observed motion phases and gripper state changes; grasp is only used where segment-level gripper closure and image evidence agree (segments 3 and 6).\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot in bowl", + "start": 0, + "end": 4, + "planning": "Move the end-effector from initial position toward the bowl containing the carrot, preparing for interaction." + }, + { + "id": 2, + "name": "grasp carrot with gripper", + "start": 5, + "end": 17, + "planning": "Close gripper around the carrot inside the metal bowl and secure hold as confirmed by gripper closure and visual evidence." + }, + { + "id": 3, + "name": "lift and reposition over cloth", + "start": 18, + "end": 23, + "planning": "Lift the grasped carrot out of the bowl and move it horizontally toward the green cloth while maintaining grip." + }, + { + "id": 4, + "name": "place carrot on green cloth", + "start": 24, + "end": 35, + "planning": "Lower the carrot onto the green cloth and release grip, completing placement as shown by final frame and gripper opening." + } + ], + "global_plan": "Approach the carrot in the bowl, grasp it securely, lift and transport it to the green cloth, then place it down gently.", + "notes": "Subtask boundaries align with observed motion phases and gripper state changes; grasp is only used where segment-level gripper closure and image evidence agree (segments 3 and 6)." + } + }, + "episode_goal": "Place the carrot on the green cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976711690425873, + 0.15314489603042603, + 0.11361285299062729, + -3.0805716514587402, + -0.04565795883536339, + -0.08572157472372055 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned near the wooden table where a metal bowl containing a carrot sits next to a green cloth. The gripper is open and the robot has not yet made contact with the carrot. The next action is to move the end-effector closer to the carrot inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 16 cm, move down 4 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 4 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2969406545162201, + 0.151382178068161, + 0.10202323645353317, + -3.0995302200317383, + -0.017922839149832726, + -0.080106221139431 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is positioned near the wooden table where a metal bowl containing a carrot sits next to a green cloth. The gripper is open and the robot has not yet made contact with the carrot. The next action is to move the end-effector closer to the carrot inside the bowl to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 16 cm, move down 3 cm, rotate counterclockwise 30 degrees, keep gripper open; then move forward 3 cm, move right 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.31374141573905945, + 0.1228451207280159, + 0.09987848997116089, + -3.1166188716888428, + -0.05800468847155571, + -0.11952930688858032 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 13 cm, move down 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 4 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33251291513442993, + 0.08162109553813934, + 0.09652576595544815, + 3.141282796859741, + -0.07142896205186844, + -0.22638826072216034 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move forward 4 cm, move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450641930103302, + 0.033440351486206055, + 0.09705007076263428, + 3.132164239883423, + -0.10786879807710648, + -0.381771057844162 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "approach carrot in bowl", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 4 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3500215709209442, + -0.010720309801399708, + 0.07334666699171066, + -3.1378695964813232, + -0.06289989501237869, + -0.5200791358947754 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 32, + 168, + 900, + 950 + ], + "blue measuring spoon": [ + 167, + 284, + 276, + 447 + ], + "metal bowl": [ + 501, + 318, + 827, + 550 + ], + "green cloth": [ + 373, + 269, + 628, + 511 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 7 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.35223808884620667, + -0.04104803875088692, + 0.05451314523816109, + -3.1045689582824707, + -0.014877595007419586, + -0.6294968724250793 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 5 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.356584370136261, + -0.05245833843946457, + 0.04642597958445549, + -3.0935239791870117, + -0.0018674678867682815, + -0.6723628640174866 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3625604808330536, + -0.05548178777098656, + 0.044404082000255585, + -3.083768129348755, + -0.008784622885286808, + -0.6818435788154602 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3687504529953003, + -0.057924333959817886, + 0.03994651138782501, + -3.089923143386841, + -0.02235584706068039, + -0.6832678914070129 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move back 1 cm, move left 5 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3803328275680542, + -0.05089091137051582, + 0.04302113130688667, + -3.089512348175049, + -0.05167578533291817, + -0.6600042581558228 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot is approaching the carrot inside the metal bowl on the wooden table. The gripper remains open and no contact has been made yet. The next action should continue moving the end-effector closer to the carrot for a future grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, close gripper; then move back 2 cm, move left 9 cm, move up 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.38282307982444763, + -0.04907256364822388, + 0.035682693123817444, + -3.0871896743774414, + -0.0502634197473526, + -0.6604172587394714 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 4 cm, rotate clockwise 10 degrees, close gripper; then move back 3 cm, move left 13 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3822266459465027, + -0.04609053209424019, + 0.00917282234877348, + -3.0965001583099365, + 0.009841195307672024, + -0.6704580187797546 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 3 cm, move left 13 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39038601517677307, + -0.046344906091690063, + 0.006855358835309744, + -3.0818986892700195, + 0.010961301624774933, + -0.6749816536903381 + ], + "gripper_value": 0.9468915462493896 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 2 cm, move left 12 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3881463408470154, + -0.04664978012442589, + 0.006310807541012764, + -3.07181453704834, + -0.0064473943784832954, + -0.6748427748680115 + ], + "gripper_value": 0.6971942782402039 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3823639154434204, + -0.04566264897584915, + 0.006041964516043663, + -3.063939094543457, + -0.018134688958525658, + -0.6726664304733276 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 3 cm, move up 7 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.37443917989730835, + -0.04586411267518997, + 0.00836617685854435, + -3.066357135772705, + -0.029337028041481972, + -0.682673990726471 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3613855838775635, + -0.04687785729765892, + 0.036791905760765076, + -3.075031280517578, + -0.06925004720687866, + -0.6858422160148621 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 28, + 167, + 901, + 947 + ], + "blue measuring spoon": [ + 166, + 284, + 277, + 447 + ], + "metal bowl": [ + 546, + 358, + 766, + 582 + ], + "green cloth": [ + 372, + 268, + 601, + 514 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "grasp carrot with gripper", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 9 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35218900442123413, + -0.019963594153523445, + 0.07117146998643875, + 3.138974666595459, + -0.09600137919187546, + -0.5258983373641968 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "lift and reposition over cloth", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 9 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.34498491883277893, + 0.031534940004348755, + 0.08930481970310211, + 3.1059348583221436, + -0.11847013980150223, + -0.30864012241363525 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 372, + 268, + 622, + 517 + ], + "blue measuring spoon": [ + 166, + 284, + 276, + 447 + ], + "metal bowl": [ + 433, + 347, + 767, + 587 + ], + "wooden table": [ + 28, + 168, + 899, + 949 + ], + "white appliance": [ + 152, + 601, + 735, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "lift and reposition over cloth", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot inside the metal bowl, with the gripper currently open. The segment-level gripper evidence indicates a closing action is occurring or imminent within this window. The next immediate action is to close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3333522379398346, + 0.07253076881170273, + 0.08907875418663025, + -3.1322479248046875, + -0.05861091986298561, + -0.12556684017181396 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "lift and reposition over cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254612386226654, + 0.11033441126346588, + 0.0671721026301384, + -3.111112117767334, + 0.004630567971616983, + -0.045644666999578476 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "lift and reposition over cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.32644984126091003, + 0.11434535682201385, + 0.054100118577480316, + -3.103429079055786, + 0.009209681302309036, + -0.04579097405076027 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "lift and reposition over cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 5 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.328994482755661, + 0.10378597676753998, + 0.047407038509845734, + -3.107287645339966, + -0.010672672651708126, + -0.10884874314069748 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "lift and reposition over cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move up 5 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3422512710094452, + 0.06838911771774292, + 0.04783429577946663, + -3.107076406478882, + -0.036273207515478134, + -0.2572685182094574 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.34669744968414307, + 0.050304315984249115, + 0.04886852949857712, + -3.1044394969940186, + -0.04036353901028633, + -0.2980434000492096 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 5 cm, move up 7 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.35369959473609924, + 0.05153973028063774, + 0.04894968122243881, + -3.0793442726135254, + -0.03507819399237633, + -0.2925433814525604 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 7 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524852693080902, + 0.05633765459060669, + 0.03358722850680351, + -3.0826244354248047, + 0.014467800036072731, + -0.2790625989437103 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 4 cm, move up 8 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3547159731388092, + 0.07321491837501526, + 0.03761981427669525, + -3.0735881328582764, + 0.007570321671664715, + -0.2276671826839447 + ], + "gripper_value": 0.6400356888771057 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The robot has lifted the carrot from the bowl and is currently holding it above the green cloth. The gripper remains closed with no motion indicating release. The next action should be to lower the carrot gently onto the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.35238727927207947, + 0.07055654376745224, + 0.03421390801668167, + -3.091839551925659, + 0.032805804163217545, + -0.2203259915113449 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The carrot is currently held by the gripper directly above the green cloth. The gripper is open, indicating the placement action is in progress or just completed. The next step is to ensure the carrot is released and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3524254560470581, + 0.07009382545948029, + 0.03622373193502426, + -3.0944082736968994, + 0.04029620438814163, + -0.22556501626968384 + ], + "gripper_value": 0.9823668599128723 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The carrot is currently held by the gripper directly above the green cloth. The gripper is open, indicating the placement action is in progress or just completed. The next step is to ensure the carrot is released and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.35178858041763306, + 0.06855139881372452, + 0.03702621906995773, + -3.09441876411438, + 0.04390726238489151, + -0.2352556586265564 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The carrot is currently held by the gripper directly above the green cloth. The gripper is open, indicating the placement action is in progress or just completed. The next step is to ensure the carrot is released and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.34475380182266235, + 0.06636925786733627, + 0.06060889735817909, + -3.0734808444976807, + 0.012387365102767944, + -0.21582040190696716 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The carrot is currently held by the gripper directly above the green cloth. The gripper is open, indicating the placement action is in progress or just completed. The next step is to ensure the carrot is released and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move up 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.32881662249565125, + 0.07142132520675659, + 0.09947262704372406, + -3.0469765663146973, + -0.02765151858329773, + -0.17022541165351868 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The carrot is currently held by the gripper directly above the green cloth. The gripper is open, indicating the placement action is in progress or just completed. The next step is to ensure the carrot is released and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3165292739868164, + 0.08738347887992859, + 0.11735113710165024, + -3.045004367828369, + -0.031991153955459595, + -0.09398914873600006 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 372, + 270, + 622, + 517 + ], + "wooden table": [ + 24, + 181, + 898, + 951 + ], + "metal bowl": [ + 431, + 347, + 767, + 587 + ], + "blue measuring spoon": [ + 166, + 285, + 276, + 447 + ] + } + } + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The carrot is currently held by the gripper directly above the green cloth. The gripper is open, indicating the placement action is in progress or just completed. The next step is to ensure the carrot is released and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.30903178453445435, + 0.09587838500738144, + 0.118211530148983, + -3.047574043273926, + -0.00683143176138401, + -0.03351358324289322 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the carrot on the green cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot in bowl" + }, + { + "id": 2, + "subtask": "grasp carrot with gripper" + }, + { + "id": 3, + "subtask": "lift and reposition over cloth" + }, + { + "id": 4, + "subtask": "place carrot on green cloth" + } + ], + "subtask_name": "place carrot on green cloth", + "subtask_reasoning": "The carrot is currently held by the gripper directly above the green cloth. The gripper is open, indicating the placement action is in progress or just completed. The next step is to ensure the carrot is released and the gripper moves away." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 24, + "end": 35 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001023_ecot.json b/cot/chunk-0001/episode_0001023_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f621a80ea5ded752e353ec44ab983593dac8a9 --- /dev/null +++ b/cot/chunk-0001/episode_0001023_ecot.json @@ -0,0 +1,844 @@ +{ + "task_name": "episode_0001023", + "episode_json": "json/chunk-0001/episode_0001023.json", + "video_path": "videos/chunk-0001/image_0/episode_0001023.mp4", + "instruction": "End effector reaching stuffedrabbit.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 15, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001023.json" + }, + "fps": 5.0, + "T_eff": 15, + "gripper_behavior_summary": { + "available": true, + "range": 0.0, + "std": 0.0, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00000, std=0.00000, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 7 + ], + [ + 2, + 8, + 14 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach stuffed rabbit\", \"start\": 0, \"end\": 7, \"planning\": \"Move end effector from initial position toward the stuffed rabbit on the stovetop, maintaining open gripper.\"},\n {\"id\": 2, \"name\": \"make contact with stuffed rabbit\", \"start\": 8, \"end\": 14, \"planning\": \"Lower and adjust end effector to gently touch or nudge the stuffed rabbit without grasping, as gripper remains fully open throughout.\"}\n ],\n \"global_plan\": \"The robot approaches the stuffed rabbit and makes light contact without attempting to grasp it, consistent with constant open gripper state across all frames.\",\n \"notes\": \"No grasping occurred — gripper value remained at 0.99815 (fully open) with zero delta in both segments. Motion is purely positional approach and contact, not manipulation via gripping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach stuffed rabbit", + "start": 0, + "end": 7, + "planning": "Move end effector from initial position toward the stuffed rabbit on the stovetop, maintaining open gripper." + }, + { + "id": 2, + "name": "make contact with stuffed rabbit", + "start": 8, + "end": 14, + "planning": "Lower and adjust end effector to gently touch or nudge the stuffed rabbit without grasping, as gripper remains fully open throughout." + } + ], + "global_plan": "The robot approaches the stuffed rabbit and makes light contact without attempting to grasp it, consistent with constant open gripper state across all frames.", + "notes": "No grasping occurred — gripper value remained at 0.99815 (fully open) with zero delta in both segments. Motion is purely positional approach and contact, not manipulation via gripping." + } + }, + "episode_goal": "Move the end effector to the stuffed rabbit on the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3406234085559845, + -0.024728333577513695, + 0.1541702300310135, + -3.1195433139801025, + -0.13150976598262787, + -0.10436389595270157 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The robot's end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to make light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 9 cm, tilt back 10 degrees, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3369061350822449, + -0.026050498709082603, + 0.14134334027767181, + -3.1187245845794678, + -0.0964907854795456, + -0.09766826778650284 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The robot's end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to make light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 8 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.324072003364563, + -0.03583294898271561, + 0.11523249000310898, + -3.0867202281951904, + -0.08165401965379715, + -0.06732911616563797 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The robot's end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to make light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 5 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.31552791595458984, + -0.04485354945063591, + 0.10729746520519257, + -3.0823814868927, + -0.1124965250492096, + -0.07013673335313797 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3082376718521118, + -0.043948739767074585, + 0.0963766947388649, + -3.077641487121582, + -0.12614014744758606, + -0.07097430527210236 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030279278755188, + -0.04268026351928711, + 0.08897008001804352, + -3.0788731575012207, + -0.16598530113697052, + -0.07825549691915512 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed pig": [ + 450, + 390, + 683, + 586 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt back 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.30230385065078735, + -0.041523586958646774, + 0.08032626658678055, + -3.073148250579834, + -0.19260986149311066, + -0.08918008208274841 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026185929775238, + -0.039233919233083725, + 0.072512187063694, + -3.073178291320801, + -0.22570770978927612, + -0.09588055312633514 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "approach stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30306723713874817, + -0.03922438621520996, + 0.06404715776443481, + -3.0785510540008545, + -0.27293699979782104, + -0.08693726360797882 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "make contact with stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.30121779441833496, + -0.0391143374145031, + 0.052557867020368576, + -3.0779926776885986, + -0.28307339549064636, + -0.08768557757139206 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "make contact with stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.29961949586868286, + -0.0384867824614048, + 0.046396832913160324, + -3.085007429122925, + -0.30424126982688904, + -0.07100723683834076 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "make contact with stuffed rabbit", + "subtask_reasoning": "The end effector is positioned above the stove, approaching the pink stuffed rabbit. No contact has been made yet, and the gripper remains open. The next action is to continue moving the end effector closer to the stuffed rabbit to achieve light contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2958969175815582, + -0.042243313044309616, + 0.04091419279575348, + -3.0951383113861084, + -0.31479284167289734, + -0.05949805676937103 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "stuffed pig": [ + 444, + 403, + 673, + 597 + ] + } + } + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "make contact with stuffed rabbit", + "subtask_reasoning": "The end effector is positioned directly above the stuffed rabbit on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating a non-grasping interaction. The next action is to lower the end effector slightly to make light contact with the stuffed rabbit." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.292731910943985, + -0.04533461108803749, + 0.0375017449259758, + -3.0972135066986084, + -0.3208175301551819, + -0.05166090279817581 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "make contact with stuffed rabbit", + "subtask_reasoning": "The end effector is positioned directly above the stuffed rabbit on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating a non-grasping interaction. The next action is to lower the end effector slightly to make light contact with the stuffed rabbit." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.28971731662750244, + -0.046954452991485596, + 0.0355367474257946, + -3.0998523235321045, + -0.3227868974208832, + -0.04288068041205406 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "make contact with stuffed rabbit", + "subtask_reasoning": "The end effector is positioned directly above the stuffed rabbit on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating a non-grasping interaction. The next action is to lower the end effector slightly to make light contact with the stuffed rabbit." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2904526889324188, + -0.049348026514053345, + 0.0339670404791832, + -3.1172688007354736, + -0.335500568151474, + -0.03874256834387779 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the end effector to the stuffed rabbit on the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach stuffed rabbit" + }, + { + "id": 2, + "subtask": "make contact with stuffed rabbit" + } + ], + "subtask_name": "make contact with stuffed rabbit", + "subtask_reasoning": "The end effector is positioned directly above the stuffed rabbit on the stove, having completed the approach phase. The gripper remains fully open with no closing evidence, indicating a non-grasping interaction. The next action is to lower the end effector slightly to make light contact with the stuffed rabbit." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 14 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 14 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001024_ecot.json b/cot/chunk-0001/episode_0001024_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf0f2adb7d260feab6d01a9d239d7a218aafd27 --- /dev/null +++ b/cot/chunk-0001/episode_0001024_ecot.json @@ -0,0 +1,1514 @@ +{ + "task_name": "episode_0001024", + "episode_json": "json/chunk-0001/episode_0001024.json", + "video_path": "videos/chunk-0001/image_0/episode_0001024.mp4", + "instruction": "Take sushi out of pan.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001024.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.40292441844940186, + "std": 0.19090056419372559, + "delta_total": -0.40292441844940186, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.40292, std=0.19090, total_delta=-0.40292). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 6 + ], + [ + 2, + 7, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan area\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the pan region without closing gripper, as no meaningful closing is observed in this segment.\"},\n {\"id\": 2, \"name\": \"initiate grasp on sushi\", \"start\": 7, \"end\": 15, \"planning\": \"Begin closing gripper around sushi in pan; gripper value drops significantly indicating active grasping phase.\"},\n {\"id\": 3, \"name\": \"lift and retract sushi\", \"start\": 16, \"end\": 24, \"planning\": \"Maintain grip while lifting sushi from pan and retracting arm; gripper remains closed with minimal further motion.\"}\n ],\n \"global_plan\": \"Approach the pan, grasp the sushi using controlled gripper closure, then lift and retract to remove it from the pan.\",\n \"notes\": \"Segment 1 shows no gripper closure — described as approach only. Segment 2 shows clear gripper closing (delta=-0.40292) and image consistency supports grasp and lift. Subtasks align with proprioceptive segments and gripper evidence.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan area", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the pan region without closing gripper, as no meaningful closing is observed in this segment." + }, + { + "id": 2, + "name": "initiate grasp on sushi", + "start": 7, + "end": 15, + "planning": "Begin closing gripper around sushi in pan; gripper value drops significantly indicating active grasping phase." + }, + { + "id": 3, + "name": "lift and retract sushi", + "start": 16, + "end": 24, + "planning": "Maintain grip while lifting sushi from pan and retracting arm; gripper remains closed with minimal further motion." + } + ], + "global_plan": "Approach the pan, grasp the sushi using controlled gripper closure, then lift and retract to remove it from the pan.", + "notes": "Segment 1 shows no gripper closure — described as approach only. Segment 2 shows clear gripper closing (delta=-0.40292) and image consistency supports grasp and lift. Subtasks align with proprioceptive segments and gripper evidence." + } + }, + "episode_goal": "Grasp the red sushi piece in the pan and lift it out.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2767247259616852, + -0.0738806426525116, + 0.14164999127388, + -3.1291756629943848, + -0.0299390722066164, + -0.031479611992836 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the stove with the pan containing the red sushi visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the pan to prepare for grasping the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 19 cm, move down 6 cm, tilt left 10 degrees, tilt back 40 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 1 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.28074514865875244, + -0.06306558847427368, + 0.13216732442378998, + -3.0654187202453613, + -0.044937435537576675, + 0.04062824696302414 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the stove with the pan containing the red sushi visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the pan to prepare for grasping the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 16 cm, move left 18 cm, move down 5 cm, tilt left 10 degrees, tilt back 40 degrees, rotate clockwise 40 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3028378188610077, + -0.027772467583417892, + 0.12146613746881485, + -2.9441401958465576, + -0.1322963535785675, + 0.16571396589279175 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is positioned above the stove with the pan containing the red sushi visible below. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the pan to prepare for grasping the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 15 cm, move down 4 cm, tilt back 30 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, move down 2 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.34049057960510254, + 0.009527313522994518, + 0.11936822533607483, + -2.8840503692626953, + -0.23150309920310974, + 0.29154857993125916 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cabbage": [ + 419, + 247, + 547, + 407 + ], + "toy pot": [ + 330, + 79, + 488, + 256 + ], + "sink": [ + 707, + 513, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 11 cm, move down 4 cm, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3845590353012085, + 0.03949015960097313, + 0.11082801967859268, + -2.8538742065429688, + -0.33406344056129456, + 0.3984605371952057 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 8 cm, move down 3 cm, tilt back 20 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.4172394573688507, + 0.06812766939401627, + 0.09730290621519089, + -2.862243413925171, + -0.4285067617893219, + 0.5167123079299927 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.43881767988204956, + 0.08431249856948853, + 0.08917228132486343, + -2.920651435852051, + -0.5727269053459167, + 0.6346901059150696 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "approach pan area", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4394089877605438, + 0.12001824378967285, + 0.08163569867610931, + -2.9467241764068604, + -0.7307305932044983, + 0.7158586978912354 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 5 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.44540610909461975, + 0.11982040107250214, + 0.07897041738033295, + -2.9475817680358887, + -0.8158045411109924, + 0.6789591312408447 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cabbage": [ + 420, + 247, + 548, + 405 + ], + "toy red pepper": [ + 715, + 187, + 871, + 289 + ], + "toy red pepper_2": [ + 499, + 177, + 651, + 289 + ], + "toy pot": [ + 330, + 86, + 504, + 252 + ], + "sink": [ + 707, + 510, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 5 cm, close gripper; then move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4486428201198578, + 0.1258365958929062, + 0.06993665546178818, + -2.943911552429199, + -0.8246327638626099, + 0.6659761071205139 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, close gripper; then move right 1 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4562913775444031, + 0.1320306658744812, + 0.06696593761444092, + -2.9562268257141113, + -0.8281338214874268, + 0.6768656969070435 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot is currently positioned above the stovetop, approaching the pan area where the red sushi is located. No objects have been grasped yet, as the gripper remains fully open. The next action is to continue moving the end-effector closer to the target sushi to prepare for the subsequent grasping phase." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move back 2 cm, move right 1 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4590964913368225, + 0.1335209310054779, + 0.06365866959095001, + -2.945223093032837, + -0.8319754600524902, + 0.6581103205680847 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, close gripper; then move back 4 cm, move right 2 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.46297943592071533, + 0.13678181171417236, + 0.05934013053774834, + -2.9749345779418945, + -0.8357260823249817, + 0.6542422771453857 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, close gripper; then move back 7 cm, move right 3 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.46165066957473755, + 0.14547081291675568, + 0.04490708187222481, + -3.010488271713257, + -0.8156005144119263, + 0.6683263182640076 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 9 cm, move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.460678368806839, + 0.1485184133052826, + 0.04154206067323685, + -3.055006265640259, + -0.8047277331352234, + 0.701511561870575 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 10 cm, move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4570382535457611, + 0.1471814215183258, + 0.030899882316589355, + -3.0487818717956543, + -0.7559998035430908, + 0.7022476196289062 + ], + "gripper_value": 0.8279770016670227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "initiate grasp on sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 10 cm, move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4570867717266083, + 0.14797045290470123, + 0.032628364861011505, + -3.0182998180389404, + -0.7538261413574219, + 0.6728917956352234 + ], + "gripper_value": 0.5968981385231018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 4 cm, move up 4 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4557737410068512, + 0.14954443275928497, + 0.03431965410709381, + -2.9643566608428955, + -0.7638369798660278, + 0.6321772336959839 + ], + "gripper_value": 0.5968981385231018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4547683596611023, + 0.14329177141189575, + 0.04341626912355423, + -2.867551326751709, + -0.7803950905799866, + 0.5281223058700562 + ], + "gripper_value": 0.5968981385231018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 4 cm, move up 3 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4560348391532898, + 0.1361444741487503, + 0.07416175305843353, + -2.8035154342651367, + -0.8326469659805298, + 0.467873752117157 + ], + "gripper_value": 0.5968981385231018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has approached the pan area where the red sushi piece is located. The gripper is currently open and positioned near the target, with no significant motion or closure detected in the immediate window. The next action should be to initiate controlled gripper closure to grasp the sushi." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move right 3 cm, move down 1 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4370841085910797, + 0.1370633989572525, + 0.08611980825662613, + -2.7492384910583496, + -0.8247030973434448, + 0.4732282757759094 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has already approached the pan and initiated a grasp on the red sushi piece. The current frame shows the gripper in contact with the sushi, but no meaningful closing motion is detected in this segment. The next action should involve lifting the sushi slightly to confirm successful grasping before retracting it from the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 3 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4133800268173218, + 0.13076861202716827, + 0.09731265902519226, + -2.7890946865081787, + -0.8077247142791748, + 0.5875359773635864 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has already approached the pan and initiated a grasp on the red sushi piece. The current frame shows the gripper in contact with the sushi, but no meaningful closing motion is detected in this segment. The next action should involve lifting the sushi slightly to confirm successful grasping before retracting it from the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 3 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3845457434654236, + 0.1143234446644783, + 0.08916900306940079, + -2.909644603729248, + -0.7586455941200256, + 0.7776410579681396 + ], + "gripper_value": 0.5968981385231018 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has already approached the pan and initiated a grasp on the red sushi piece. The current frame shows the gripper in contact with the sushi, but no meaningful closing motion is detected in this segment. The next action should involve lifting the sushi slightly to confirm successful grasping before retracting it from the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.36300936341285706, + 0.10952820628881454, + 0.0770835354924202, + -2.9728455543518066, + -0.7269981503486633, + 0.8963837623596191 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy red pepper": [ + 715, + 191, + 872, + 289 + ], + "toy red pepper_2": [ + 491, + 181, + 651, + 289 + ], + "toy cabbage": [ + 421, + 248, + 548, + 405 + ], + "sink": [ + 707, + 513, + 994, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has already approached the pan and initiated a grasp on the red sushi piece. The current frame shows the gripper in contact with the sushi, but no meaningful closing motion is detected in this segment. The next action should involve lifting the sushi slightly to confirm successful grasping before retracting it from the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3529047667980194, + 0.10548372566699982, + 0.06900639086961746, + -3.0566203594207764, + -0.6709268093109131, + 0.9853348731994629 + ], + "gripper_value": 0.5958979725837708 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the red sushi piece in the pan and lift it out." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan area" + }, + { + "id": 2, + "subtask": "initiate grasp on sushi" + }, + { + "id": 3, + "subtask": "lift and retract sushi" + } + ], + "subtask_name": "lift and retract sushi", + "subtask_reasoning": "The robot has already approached the pan and initiated a grasp on the red sushi piece. The current frame shows the gripper in contact with the sushi, but no meaningful closing motion is detected in this segment. The next action should involve lifting the sushi slightly to confirm successful grasping before retracting it from the pan." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001025_ecot.json b/cot/chunk-0001/episode_0001025_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..db74a19e24bb62235fa4fc4006316f9a960a053c --- /dev/null +++ b/cot/chunk-0001/episode_0001025_ecot.json @@ -0,0 +1,3573 @@ +{ + "task_name": "episode_0001025", + "episode_json": "json/chunk-0001/episode_0001025.json", + "video_path": "videos/chunk-0001/image_0/episode_0001025.mp4", + "instruction": "Take the silver pot and placed it besides white cloth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 53, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001025.json" + }, + "fps": 5.0, + "T_eff": 53, + "gripper_behavior_summary": { + "available": true, + "range": 0.5862326622009277, + "std": 0.27540943026542664, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58623, std=0.27541, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 600, + 600, + 615, + 615, + 615, + 615, + 615, + 615, + 615, + 615, + 715, + 715, + 715, + 715, + 715, + 715, + 715, + 715, + 715, + 715, + 715, + 734, + 334, + 334, + 334, + 334, + 334, + 534, + 534, + 534, + 434, + 434, + 434, + 434, + 434, + 434, + 434, + 434, + 434, + 434 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 8 + ], + [ + 3, + 9, + 12 + ], + [ + 4, + 13, + 14 + ], + [ + 5, + 15, + 22 + ], + [ + 6, + 23, + 33 + ], + [ + 7, + 34, + 34 + ], + [ + 8, + 35, + 39 + ], + [ + 9, + 40, + 42 + ], + [ + 10, + 43, + 52 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach silver pot\", \"start\": 0, \"end\": 12, \"planning\": \"Move the gripper from initial position toward the silver pot while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp silver pot\", \"start\": 13, \"end\": 22, \"planning\": \"Close gripper around the handle of the silver pot to secure a firm grasp.\"},\n {\"id\": 3, \"name\": \"lift and reposition pot\", \"start\": 23, \"end\": 33, \"planning\": \"Lift the silver pot slightly and begin moving it laterally toward the white cloth.\"},\n {\"id\": 4, \"name\": \"align beside white cloth\", \"start\": 34, \"end\": 42, \"planning\": \"Adjust the pot’s position in mid-air to align it precisely beside the white cloth.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 43, \"end\": 52, \"planning\": \"Open gripper to release the pot beside the cloth, then retreat upward to clear the scene.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp its handle, lift and move it laterally, align it beside the white cloth, then release and retreat.\",\n \"notes\": \"Gripper closure confirmed in segment 4 (frames 13-14) with delta=-0.43109; release confirmed in segment 10 (frames 43-52) with gripper fully open. Motion phases segmented by proprioceptive clusters and visual alignment cues.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach silver pot", + "start": 0, + "end": 12, + "planning": "Move the gripper from initial position toward the silver pot while keeping gripper open." + }, + { + "id": 2, + "name": "grasp silver pot", + "start": 13, + "end": 22, + "planning": "Close gripper around the handle of the silver pot to secure a firm grasp." + }, + { + "id": 3, + "name": "lift and reposition pot", + "start": 23, + "end": 33, + "planning": "Lift the silver pot slightly and begin moving it laterally toward the white cloth." + }, + { + "id": 4, + "name": "align beside white cloth", + "start": 34, + "end": 42, + "planning": "Adjust the pot’s position in mid-air to align it precisely beside the white cloth." + }, + { + "id": 5, + "name": "release and retreat", + "start": 43, + "end": 52, + "planning": "Open gripper to release the pot beside the cloth, then retreat upward to clear the scene." + } + ], + "global_plan": "Approach the silver pot, grasp its handle, lift and move it laterally, align it beside the white cloth, then release and retreat.", + "notes": "Gripper closure confirmed in segment 4 (frames 13-14) with delta=-0.43109; release confirmed in segment 10 (frames 43-52) with gripper fully open. Motion phases segmented by proprioceptive clusters and visual alignment cues." + } + }, + "episode_goal": "Place the silver pot next to the white cloth.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.29275646805763245, + 0.04204902797937393, + 0.0752645954489708, + -3.1216607093811035, + -0.012526488862931728, + 0.13898628950119019 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and white cloth visible in the scene. No movement or grasping has occurred yet; the gripper remains open. The next action should be to move the end-effector closer to the silver pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2917160093784332, + 0.041908182203769684, + 0.06575293838977814, + -3.1215455532073975, + 0.018245333805680275, + 0.13435444235801697 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and white cloth visible in the scene. No movement or grasping has occurred yet; the gripper remains open. The next action should be to move the end-effector closer to the silver pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 3 cm, move down 4 cm, rotate counterclockwise 40 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3076217770576477, + 0.05338733643293381, + 0.06532952934503555, + -3.1199421882629395, + -0.008248215541243553, + 0.11036761105060577 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and white cloth visible in the scene. No movement or grasping has occurred yet; the gripper remains open. The next action should be to move the end-effector closer to the silver pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3271883726119995, + 0.06266124546527863, + 0.0657157227396965, + -3.103119373321533, + -0.04493911191821098, + 0.0015152450650930405 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy stove": [ + 581, + 159, + 996, + 993 + ], + "metal cup": [ + 403, + 312, + 714, + 562 + ], + "tomato soup": [ + 600, + 23, + 737, + 247 + ], + "napkins": [ + 81, + 233, + 322, + 480 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and white cloth visible in the scene. No movement or grasping has occurred yet; the gripper remains open. The next action should be to move the end-effector closer to the silver pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3325723111629486, + 0.05957017466425896, + 0.06797782331705093, + -3.0908608436584473, + -0.06218775734305382, + -0.12276051193475723 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and white cloth visible in the scene. No movement or grasping has occurred yet; the gripper remains open. The next action should be to move the end-effector closer to the silver pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353002667427063, + 0.04545538127422333, + 0.0654413029551506, + -3.138131618499756, + -0.09237927198410034, + -0.25569888949394226 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the table with the silver pot and white cloth visible in the scene. No movement or grasping has occurred yet; the gripper remains open. The next action should be to move the end-effector closer to the silver pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32510820031166077, + 0.029234040528535843, + 0.061715614050626755, + 3.0783135890960693, + -0.0637836679816246, + -0.40736159682273865 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194214105606079, + 0.02150743454694748, + 0.06437940895557404, + 3.0567357540130615, + -0.08615554124116898, + -0.46507227420806885 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31830769777297974, + 0.014222580939531326, + 0.06083982437849045, + 3.1124424934387207, + -0.05086847394704819, + -0.5028611421585083 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 5 cm, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3165096640586853, + 0.008506559766829014, + 0.055083148181438446, + -3.122293710708618, + -0.017038725316524506, + -0.5205183625221252 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 4 cm, tilt forward 10 degrees, close gripper; then move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3133058547973633, + 0.008190968073904514, + 0.03332623094320297, + -3.1032168865203857, + 0.0621088407933712, + -0.5165113806724548 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3166196942329407, + 0.007473007310181856, + 0.02839779667556286, + -3.107490301132202, + 0.06785603612661362, + -0.5083360075950623 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 1 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.31673723459243774, + 0.018169203773140907, + 0.01325241569429636, + -3.139345407485962, + 0.09460664540529251, + -0.46450677514076233 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, move left 2 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3181702792644501, + 0.02202090620994568, + 0.01478815358132124, + 3.1360065937042236, + 0.09018957614898682, + -0.4357987940311432 + ], + "gripper_value": 0.8417698740959167 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "napkins": [ + 81, + 233, + 329, + 479 + ], + "toy stove": [ + 579, + 160, + 995, + 993 + ], + "metal cup": [ + 524, + 314, + 713, + 547 + ], + "tomato soup": [ + 600, + 23, + 737, + 252 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.31779107451438904, + 0.02021658420562744, + 0.01423743274062872, + 3.115482807159424, + 0.08343339711427689, + -0.4407137334346771 + ], + "gripper_value": 0.5383656024932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.31797122955322266, + 0.021616850048303604, + 0.01230023056268692, + 3.09027361869812, + 0.05758959800004959, + -0.41973787546157837 + ], + "gripper_value": 0.4229295253753662 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 2 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3177354633808136, + 0.021689405664801598, + 0.01200814824551344, + 3.0878381729125977, + 0.05613360181450844, + -0.4225134551525116 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible below and slightly to the right. No contact has been made yet, and the gripper remains open. The next action should be to lower the end-effector toward the pot’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.31701385974884033, + 0.021636227145791054, + 0.011429151520133018, + 3.0880985260009766, + 0.0584014356136322, + -0.40564727783203125 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 5 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149748146533966, + 0.022275056689977646, + 0.016966812312602997, + 3.097750425338745, + 0.05343379080295563, + -0.3875690698623657 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 1 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3139706552028656, + 0.022106125950813293, + 0.030079437419772148, + 3.1011481285095215, + 0.0219302736222744, + -0.33689045906066895 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move up 3 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 2 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30966347455978394, + 0.031963467597961426, + 0.051227275282144547, + 3.0968120098114014, + -0.041197240352630615, + -0.2584387958049774 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.30798542499542236, + 0.03610320761799812, + 0.058625802397727966, + 3.087479591369629, + -0.06647670269012451, + -0.22339479625225067 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "napkins": [ + 81, + 232, + 328, + 479 + ], + "toy stove": [ + 580, + 159, + 996, + 993 + ], + "metal cup": [ + 481, + 197, + 646, + 431 + ], + "tomato soup": [ + 602, + 23, + 738, + 236 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058907985687256, + 0.041245393455028534, + 0.058592814952135086, + 3.080521583557129, + -0.05657577142119408, + -0.17083241045475006 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp silver pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3030884265899658, + 0.048180658370256424, + 0.05849156528711319, + 3.0763373374938965, + -0.037308115512132645, + -0.032401930540800095 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, move down 3 cm, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.30320170521736145, + 0.058522388339042664, + 0.05783335119485855, + 3.122377872467041, + -0.05412469431757927, + 0.18598277866840363 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 3 cm, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3056158125400543, + 0.06814582645893097, + 0.05985092371702194, + 3.137430429458618, + -0.08909763395786285, + 0.3317742347717285 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3064883053302765, + 0.07556629180908203, + 0.05992560088634491, + 3.125821828842163, + -0.10168793052434921, + 0.4406045079231262 + ], + "gripper_value": 0.4220271706581116 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toaster": [ + 450, + 4, + 643, + 227 + ], + "toy stove": [ + 578, + 160, + 996, + 992 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.307504802942276, + 0.07872716337442398, + 0.05770418792963028, + 3.10652494430542, + -0.07547583431005478, + 0.4859093129634857 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot arm is positioned directly above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot's handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 3 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3097171187400818, + 0.08655765652656555, + 0.05136772617697716, + 3.1012754440307617, + -0.055099863559007645, + 0.5271135568618774 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.30820780992507935, + 0.08837852627038956, + 0.03693439066410065, + 3.112072229385376, + -0.016640856862068176, + 0.5336183309555054 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper; then move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.31138476729393005, + 0.08957570791244507, + 0.027443144470453262, + 3.116107940673828, + -0.006643379107117653, + 0.5299407243728638 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 1 cm, move right 3 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3111087381839752, + 0.09001602977514267, + 0.025955045595765114, + 3.1168878078460693, + -0.0038575362414121628, + 0.5238390564918518 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 3 cm, move right 4 cm, move up 9 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3111087381839752, + 0.09001602977514267, + 0.025955045595765114, + 3.1168878078460693, + -0.0038575362414121628, + 0.5238390564918518 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "open gripper; then move back 3 cm, move right 5 cm, move up 8 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.31123587489128113, + 0.08952656388282776, + 0.026260292157530785, + 3.117197275161743, + -0.0024655326269567013, + 0.517632007598877 + ], + "gripper_value": 0.4211256504058838 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and reposition pot", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 23, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31318041682243347, + 0.0921160951256752, + 0.028821472078561783, + 3.1287007331848145, + -0.0065262229181826115, + 0.5174798369407654 + ], + "gripper_value": 0.5023775696754456 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.31324872374534607, + 0.0938628613948822, + 0.02797851525247097, + -3.1388156414031982, + 0.0009116287110373378, + 0.5243613719940186 + ], + "gripper_value": 0.8017430305480957 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31434136629104614, + 0.09481571614742279, + 0.030165748670697212, + -3.134803056716919, + 0.0016240774421021342, + 0.5079386830329895 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.31434136629104614, + 0.09481571614742279, + 0.030165748670697212, + -3.134803056716919, + 0.0016240774421021342, + 0.5079386830329895 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot has approached and grasped the silver pot, now lifting it slightly above the table surface. The gripper remains closed with minimal motion, indicating stable contact during repositioning. Next, the robot should move the pot laterally toward the white cloth while maintaining grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 28 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.31381896138191223, + 0.09403122216463089, + 0.0301726795732975, + -3.1313323974609375, + 0.005556933581829071, + 0.5046812891960144 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 6 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.31295326352119446, + 0.07900511473417282, + 0.0428142249584198, + 3.1401379108428955, + -0.02631179615855217, + 0.4438009560108185 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.30217716097831726, + 0.06135553494095802, + 0.09257255494594574, + -3.1370761394500732, + -0.18010564148426056, + 0.3514585793018341 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.28783953189849854, + 0.048103176057338715, + 0.11464571952819824, + -3.123377561569214, + -0.23794518411159515, + 0.2876178026199341 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toaster": [ + 421, + 4, + 644, + 227 + ], + "napkins": [ + 81, + 234, + 292, + 480 + ], + "toy stove": [ + 577, + 160, + 996, + 993 + ], + "coffee maker": [ + 221, + 6, + 507, + 519 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.2862147092819214, + 0.04584680125117302, + 0.11347506940364838, + -3.1228177547454834, + -0.2101535201072693, + 0.23062868416309357 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "align beside white cloth", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 42 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2976030111312866, + 0.049232881516218185, + 0.09280271828174591, + -3.1009106636047363, + -0.11444443464279175, + 0.11715749651193619 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.31088787317276, + 0.05042578652501106, + 0.07633946090936661, + -3.097154378890991, + 0.008531196042895317, + 0.004898774903267622 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toaster": [ + 451, + 5, + 641, + 227 + ], + "napkins": [ + 81, + 233, + 292, + 479 + ], + "toy stove": [ + 579, + 160, + 996, + 993 + ], + "metal cup": [ + 264, + 245, + 450, + 524 + ] + } + } + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.3115714192390442, + 0.050273969769477844, + 0.07723554968833923, + -3.0958752632141113, + 0.010314582847058773, + 0.0014328346587717533 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.31138014793395996, + 0.050253383815288544, + 0.07772064954042435, + -3.0958714485168457, + 0.01045762188732624, + -0.0015602572821080685 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot is holding the silver pot above the counter, positioned near the white cloth. The gripper is closed, indicating the pot is securely grasped. The next action is to lower and place the pot beside the white cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 47, + "state_action_evidence": { + "ee_state_6d": [ + 0.31132972240448, + 0.0502464585006237, + 0.07723698765039444, + -3.096045970916748, + 0.011837372556328773, + 0.0015023751184344292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned beside the white cloth, and the gripper is fully open (value=1.0), indicating release has occurred. The robot is stationary with minimal motion, suggesting it is in the retreat phase or has completed retreat. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 48, + "state_action_evidence": { + "ee_state_6d": [ + 0.31132972240448, + 0.0502464585006237, + 0.07723698765039444, + -3.0960278511047363, + 0.011767515912652016, + 0.0030348754953593016 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned beside the white cloth, and the gripper is fully open (value=1.0), indicating release has occurred. The robot is stationary with minimal motion, suggesting it is in the retreat phase or has completed retreat. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 47 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 49, + "state_action_evidence": { + "ee_state_6d": [ + 0.31113845109939575, + 0.05022585764527321, + 0.07772208750247955, + -3.096010208129883, + 0.011840138584375381, + 0.0015742576215416193 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned beside the white cloth, and the gripper is fully open (value=1.0), indicating release has occurred. The robot is stationary with minimal motion, suggesting it is in the retreat phase or has completed retreat. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 47 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 50, + "state_action_evidence": { + "ee_state_6d": [ + 0.31132972240448, + 0.0502464585006237, + 0.07723698765039444, + -3.096045970916748, + 0.011837372556328773, + 0.0015023751184344292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned beside the white cloth, and the gripper is fully open (value=1.0), indicating release has occurred. The robot is stationary with minimal motion, suggesting it is in the retreat phase or has completed retreat. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 47 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 51, + "state_action_evidence": { + "ee_state_6d": [ + 0.31132972240448, + 0.0502464585006237, + 0.07723698765039444, + -3.096045970916748, + 0.011837372556328773, + 0.0015023751184344292 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned beside the white cloth, and the gripper is fully open (value=1.0), indicating release has occurred. The robot is stationary with minimal motion, suggesting it is in the retreat phase or has completed retreat. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 47 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + }, + { + "t": 52, + "state_action_evidence": { + "ee_state_6d": [ + 0.31138014793395996, + 0.050253383815288544, + 0.07772064954042435, + -3.095839500427246, + 0.010317349806427956, + 0.0015046625630930066 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the silver pot next to the white cloth." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach silver pot" + }, + { + "id": 2, + "subtask": "grasp silver pot" + }, + { + "id": 3, + "subtask": "lift and reposition pot" + }, + { + "id": 4, + "subtask": "align beside white cloth" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned beside the white cloth, and the gripper is fully open (value=1.0), indicating release has occurred. The robot is stationary with minimal motion, suggesting it is in the retreat phase or has completed retreat. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 52 + }, + "cache_ref": { + "anchor_ref_reasoning": 47 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 43, + "end": 52 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001026_ecot.json b/cot/chunk-0001/episode_0001026_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..780301cbea681e43a9051382bf68585c1e864932 --- /dev/null +++ b/cot/chunk-0001/episode_0001026_ecot.json @@ -0,0 +1,2960 @@ +{ + "task_name": "episode_0001026", + "episode_json": "json/chunk-0001/episode_0001026.json", + "video_path": "videos/chunk-0001/image_0/episode_0001026.mp4", + "instruction": "Unfold the cloth from top left to bottom right.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 43, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001026.json" + }, + "fps": 5.0, + "T_eff": 43, + "gripper_behavior_summary": { + "available": true, + "range": 0.9514545798301697, + "std": 0.41131970286369324, + "delta_total": -0.009425222873687744, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95145, std=0.41132, total_delta=-0.00943). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 16, + 16, + 18, + 18, + 18, + 18, + 22, + 22, + 22, + 22, + 22, + 22, + 22, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 122, + 141, + 141 + ], + "seg_spans": [ + [ + 1, + 0, + 15 + ], + [ + 2, + 16, + 17 + ], + [ + 3, + 18, + 21 + ], + [ + 4, + 22, + 28 + ], + [ + 5, + 29, + 40 + ], + [ + 6, + 41, + 42 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach top left corner\", \"start\": 0, \"end\": 15, \"planning\": \"Move end-effector to the top-left corner of the cloth and close gripper to make contact or grasp.\"},\n {\"id\": 2, \"name\": \"adjust grip on cloth\", \"start\": 16, \"end\": 21, \"planning\": \"Fine-tune gripper position and pressure while maintaining contact with the cloth corner.\"},\n {\"id\": 3, \"name\": \"drag cloth diagonally\", \"start\": 22, \"end\": 28, \"planning\": \"Pull the cloth from top-left toward bottom-right by dragging it across the table surface.\"},\n {\"id\": 4, \"name\": \"continue unfolding motion\", \"start\": 29, \"end\": 40, \"planning\": \"Extend the drag motion to fully unfold the cloth, ensuring smooth propagation of the fold release.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 41, \"end\": 42, \"planning\": \"Open gripper to release the cloth and move end-effector away to complete the unfolding task.\"}\n ],\n \"global_plan\": \"Unfold the green cloth by grasping its top-left corner, dragging it diagonally to the bottom-right, and releasing once fully spread.\",\n \"notes\": \"Segment 5 (frames 29-40) lacks explicit keyframes but is inferred as continuous dragging based on motion continuity and task goal; gripper remains closed per segment-level evidence. Segment 6 shows gripper opening and retreat, confirming release phase.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach top left corner", + "start": 0, + "end": 15, + "planning": "Move end-effector to the top-left corner of the cloth and close gripper to make contact or grasp." + }, + { + "id": 2, + "name": "adjust grip on cloth", + "start": 16, + "end": 21, + "planning": "Fine-tune gripper position and pressure while maintaining contact with the cloth corner." + }, + { + "id": 3, + "name": "drag cloth diagonally", + "start": 22, + "end": 28, + "planning": "Pull the cloth from top-left toward bottom-right by dragging it across the table surface." + }, + { + "id": 4, + "name": "continue unfolding motion", + "start": 29, + "end": 40, + "planning": "Extend the drag motion to fully unfold the cloth, ensuring smooth propagation of the fold release." + }, + { + "id": 5, + "name": "release and retreat", + "start": 41, + "end": 42, + "planning": "Open gripper to release the cloth and move end-effector away to complete the unfolding task." + } + ], + "global_plan": "Unfold the green cloth by grasping its top-left corner, dragging it diagonally to the bottom-right, and releasing once fully spread.", + "notes": "Segment 5 (frames 29-40) lacks explicit keyframes but is inferred as continuous dragging based on motion continuity and task goal; gripper remains closed per segment-level evidence. Segment 6 shows gripper opening and retreat, confirming release phase." + } + }, + "episode_goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4131016731262207, + 0.16136805713176727, + 0.09277689456939697, + -2.965787887573242, + -0.15495991706848145, + -0.2464495152235031 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. No prior actions have been taken. The gripper is open and approaching the top-left corner of the cloth. The next action should be to lower the gripper and make contact with the cloth’s top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.41031938791275024, + 0.15917658805847168, + 0.0718345120549202, + -2.999420404434204, + -0.11803130060434341, + -0.24307982623577118 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. No prior actions have been taken. The gripper is open and approaching the top-left corner of the cloth. The next action should be to lower the gripper and make contact with the cloth’s top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4104543924331665, + 0.15800780057907104, + 0.06450257450342178, + -3.004343271255493, + -0.12660004198551178, + -0.27823758125305176 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. No prior actions have been taken. The gripper is open and approaching the top-left corner of the cloth. The next action should be to lower the gripper and make contact with the cloth’s top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.4038546085357666, + 0.15961073338985443, + 0.04966263100504875, + -3.0035181045532227, + -0.12311112880706787, + -0.2911255657672882 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 817, + 680, + 959, + 994 + ], + "green cloth": [ + 119, + 244, + 715, + 661 + ], + "white bin": [ + 532, + 66, + 862, + 303 + ], + "yellow object": [ + 900, + 535, + 970, + 659 + ], + "toy stove": [ + 809, + 143, + 995, + 374 + ], + "dark object": [ + 221, + 7, + 379, + 385 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. No prior actions have been taken. The gripper is open and approaching the top-left corner of the cloth. The next action should be to lower the gripper and make contact with the cloth’s top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.4047113060951233, + 0.16043482720851898, + 0.046286989003419876, + -2.986905097961426, + -0.1350046694278717, + -0.3070860803127289 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. No prior actions have been taken. The gripper is open and approaching the top-left corner of the cloth. The next action should be to lower the gripper and make contact with the cloth’s top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.40490978956222534, + 0.16299434006214142, + 0.04688391834497452, + -2.97773814201355, + -0.13569223880767822, + -0.3069175183773041 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. No prior actions have been taken. The gripper is open and approaching the top-left corner of the cloth. The next action should be to lower the gripper and make contact with the cloth’s top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.40342339873313904, + 0.16874395310878754, + 0.05116317421197891, + -3.001612424850464, + -0.14590774476528168, + -0.2900948226451874 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. No prior actions have been taken. The gripper is open and approaching the top-left corner of the cloth. The next action should be to lower the gripper and make contact with the cloth’s top-left corner to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.40087711811065674, + 0.1740555316209793, + 0.05509477108716965, + -3.03678035736084, + -0.1587221324443817, + -0.28140079975128174 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4031209945678711, + 0.1713533252477646, + 0.06083201617002487, + -3.060783863067627, + -0.17062731087207794, + -0.2989439070224762 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4036010503768921, + 0.17318500578403473, + 0.062343306839466095, + -3.0510125160217285, + -0.167941153049469, + -0.2981029152870178 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4076971113681793, + 0.17518188059329987, + 0.0682506263256073, + -3.0218355655670166, + -0.16629524528980255, + -0.29017576575279236 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, close gripper; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4113888740539551, + 0.16947481036186218, + 0.06390819698572159, + -3.0271999835968018, + -0.15048299729824066, + -0.29003003239631653 + ], + "gripper_value": 0.9927561283111572 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 818, + 680, + 959, + 994 + ], + "green cloth": [ + 120, + 247, + 714, + 661 + ], + "white bin": [ + 538, + 67, + 863, + 305 + ], + "toy stove": [ + 809, + 142, + 995, + 375 + ], + "dark object": [ + 217, + 6, + 364, + 338 + ], + "yellow object": [ + 900, + 535, + 970, + 659 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.41435113549232483, + 0.1711188703775406, + 0.061677202582359314, + -3.027045726776123, + -0.14441971480846405, + -0.27579265832901 + ], + "gripper_value": 0.9613274931907654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4150618612766266, + 0.1722605675458908, + 0.05791649594902992, + -3.0225775241851807, + -0.12937718629837036, + -0.2733716666698456 + ], + "gripper_value": 0.8939508199691772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4161606729030609, + 0.17088963091373444, + 0.05802319571375847, + -3.0158450603485107, + -0.1282620131969452, + -0.27515506744384766 + ], + "gripper_value": 0.8454146385192871 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4171473979949951, + 0.1716836839914322, + 0.058272045105695724, + -3.005520820617676, + -0.1300850510597229, + -0.27899011969566345 + ], + "gripper_value": 0.5699762105941772 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach top left corner", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move down 1 cm, keep gripper closed; then move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41620776057243347, + 0.1724700927734375, + 0.05785385146737099, + -3.002330780029297, + -0.12401258945465088, + -0.27558964490890503 + ], + "gripper_value": 0.2943395674228668 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust grip on cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 1 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41388848423957825, + 0.17249682545661926, + 0.05009990558028221, + -3.013587474822998, + -0.10212510079145432, + -0.26681724190711975 + ], + "gripper_value": 0.27449509501457214 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust grip on cloth", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded at the top-left. The gripper is open and approaching the top-left corner of the cloth. No contact has been made yet. The next action is to lower the gripper and grasp the top-left corner of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.41365715861320496, + 0.17310169339179993, + 0.050129640847444534, + -3.010390520095825, + -0.09988892823457718, + -0.2655564248561859 + ], + "gripper_value": 0.5004528760910034 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust grip on cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now adjusting its grip. The gripper is partially closed (0.50045), indicating contact or initial grasp. The next action is to secure a firm hold on the cloth corner before dragging it diagonally." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 2 cm, move right 8 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.41388848423957825, + 0.17249682545661926, + 0.05009990558028221, + -3.013587474822998, + -0.10212510079145432, + -0.26681724190711975 + ], + "gripper_value": 0.7309711575508118 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust grip on cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now adjusting its grip. The gripper is partially closed (0.50045), indicating contact or initial grasp. The next action is to secure a firm hold on the cloth corner before dragging it diagonally." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 12 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.41414085030555725, + 0.16915878653526306, + 0.049830880016088486, + -3.036298990249634, + -0.11094749718904495, + -0.2721993029117584 + ], + "gripper_value": 0.7190925478935242 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust grip on cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now adjusting its grip. The gripper is partially closed (0.50045), indicating contact or initial grasp. The next action is to secure a firm hold on the cloth corner before dragging it diagonally." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move back 3 cm, move right 12 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.41145697236061096, + 0.17184537649154663, + 0.04959970340132713, + -3.0470504760742188, + -0.10733278840780258, + -0.27397263050079346 + ], + "gripper_value": 0.6079121828079224 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "adjust grip on cloth", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now adjusting its grip. The gripper is partially closed (0.50045), indicating contact or initial grasp. The next action is to secure a firm hold on the cloth corner before dragging it diagonally." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 12 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 21 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 16, + "end": 21 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4139978587627411, + 0.17503508925437927, + 0.052679724991321564, + -3.0331573486328125, + -0.10649757087230682, + -0.26739466190338135 + ], + "gripper_value": 0.33397963643074036 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 818, + 681, + 958, + 994 + ], + "green cloth": [ + 121, + 248, + 714, + 663 + ], + "white bin": [ + 533, + 66, + 862, + 303 + ], + "toy stove": [ + 809, + 144, + 995, + 375 + ], + "yellow object": [ + 900, + 535, + 970, + 659 + ], + "dark object": [ + 216, + 4, + 362, + 338 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now adjusting its grip. The gripper is partially closed (0.50045), indicating contact or initial grasp. The next action is to secure a firm hold on the cloth corner before dragging it diagonally." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 3 cm, move right 8 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4133288562297821, + 0.1737455576658249, + 0.04410276189446449, + -3.043388605117798, + -0.08924809098243713, + -0.2673298716545105 + ], + "gripper_value": 0.12795238196849823 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now adjusting its grip. The gripper is partially closed (0.50045), indicating contact or initial grasp. The next action is to secure a firm hold on the cloth corner before dragging it diagonally." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 8 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.4134316146373749, + 0.17284362018108368, + 0.04405222088098526, + -3.0481157302856445, + -0.09072117507457733, + -0.27406251430511475 + ], + "gripper_value": 0.05511022359132767 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot has approached the top-left corner of the green cloth and is now adjusting its grip. The gripper is partially closed (0.50045), indicating contact or initial grasp. The next action is to secure a firm hold on the cloth corner before dragging it diagonally." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 6 cm, move right 10 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.4128502905368805, + 0.17169281840324402, + 0.04390896111726761, + -3.058689594268799, + -0.09098740667104721, + -0.28179606795310974 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 12 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 7 cm, move right 11 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.408792644739151, + 0.1670086830854416, + 0.04769054427742958, + -3.0864486694335938, + -0.1079411655664444, + -0.2957622706890106 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 11 cm, move up 3 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 7 cm, move right 12 cm, move up 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.39690351486206055, + 0.14803791046142578, + 0.07147082686424255, + -3.027615547180176, + -0.1451900601387024, + -0.3596906065940857 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 9 cm, move up 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 8 cm, move right 12 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.39424678683280945, + 0.0955955982208252, + 0.07896298170089722, + -2.894577741622925, + -0.12579047679901123, + -0.4706338047981262 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth diagonally", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 9 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 22, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3869881331920624, + 0.055713143199682236, + 0.07887507230043411, + -2.7997870445251465, + -0.09142899513244629, + -0.5774136781692505 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move right 13 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.37937822937965393, + 0.02774902433156967, + 0.07141152024269104, + -2.7655763626098633, + -0.03410494327545166, + -0.6612733006477356 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move right 10 cm, move up 2 cm, tilt right 20 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3693787157535553, + -0.009359683841466904, + 0.06608588248491287, + -2.756438970565796, + 0.01019494142383337, + -0.7615993618965149 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 818, + 683, + 960, + 994 + ], + "green cloth": [ + 132, + 262, + 716, + 699 + ], + "yellow object": [ + 900, + 534, + 970, + 659 + ], + "toy stove": [ + 808, + 140, + 995, + 375 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 6 cm, move up 3 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3559812605381012, + -0.019494907930493355, + 0.08601351827383041, + -2.751485586166382, + -0.027613019570708275, + -0.7979586124420166 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 5 cm, move up 1 cm, tilt right 30 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.34083014726638794, + -0.0285599697381258, + 0.0958172008395195, + -2.7910895347595215, + -0.049423519521951675, + -0.8450742363929749 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the top-left corner of the green cloth, which is partially unfolded on the table. The gripper is closed and the arm is positioned to begin dragging the cloth diagonally toward the bottom-right. The next action is to move the end-effector diagonally while maintaining grip to continue unfolding the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 4 cm, tilt right 20 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.32713058590888977, + -0.04180723801255226, + 0.10265716910362244, + -2.809405565261841, + -0.050673242658376694, + -0.8918774127960205 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the green cloth, which is partially unfolded on the table. The gripper is closed, maintaining contact with the fabric as the arm moves to continue the unfolding process. The next action involves dragging the cloth further towards the bottom-right to spread it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, tilt right 20 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.31949734687805176, + -0.05237143859267235, + 0.09978032857179642, + -2.8286893367767334, + -0.032250240445137024, + -0.9286556243896484 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the green cloth, which is partially unfolded on the table. The gripper is closed, maintaining contact with the fabric as the arm moves to continue the unfolding process. The next action involves dragging the cloth further towards the bottom-right to spread it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, tilt right 20 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31202229857444763, + -0.06242615729570389, + 0.09398892521858215, + -2.8457679748535156, + -0.015994427725672722, + -0.9625847935676575 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the green cloth, which is partially unfolded on the table. The gripper is closed, maintaining contact with the fabric as the arm moves to continue the unfolding process. The next action involves dragging the cloth further towards the bottom-right to spread it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt right 20 degrees, tilt forward 10 degrees, open gripper; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.30661043524742126, + -0.06638811528682709, + 0.09102854132652283, + -2.867976188659668, + -0.007576911710202694, + -0.9790935516357422 + ], + "gripper_value": 0.04936150461435318 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the green cloth, which is partially unfolded on the table. The gripper is closed, maintaining contact with the fabric as the arm moves to continue the unfolding process. The next action involves dragging the cloth further towards the bottom-right to spread it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 20 degrees, tilt forward 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.29965686798095703, + -0.06804176419973373, + 0.08761945366859436, + -2.916921377182007, + 0.014693710021674633, + -0.9746435284614563 + ], + "gripper_value": 0.06772904843091965 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the green cloth, which is partially unfolded on the table. The gripper is closed, maintaining contact with the fabric as the arm moves to continue the unfolding process. The next action involves dragging the cloth further towards the bottom-right to spread it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2989770770072937, + -0.07691624760627747, + 0.08784754574298859, + -3.0102946758270264, + 0.04275224357843399, + -0.9467488527297974 + ], + "gripper_value": 0.2148229479789734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the green cloth, which is partially unfolded on the table. The gripper is closed, maintaining contact with the fabric as the arm moves to continue the unfolding process. The next action involves dragging the cloth further towards the bottom-right to spread it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.29918625950813293, + -0.06979559361934662, + 0.09215400367975235, + -3.110656499862671, + 0.07833335548639297, + -0.8741692304611206 + ], + "gripper_value": 0.49661046266555786 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "continue unfolding motion", + "subtask_reasoning": "The robot is currently holding the green cloth, which is partially unfolded on the table. The gripper is closed, maintaining contact with the fabric as the arm moves to continue the unfolding process. The next action involves dragging the cloth further towards the bottom-right to spread it out." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 40 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 29, + "end": 40 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.30425214767456055, + -0.06656079739332199, + 0.0980045273900032, + 3.0728206634521484, + 0.06703304499387741, + -0.8691517114639282 + ], + "gripper_value": 0.7672095894813538 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy ice cream cone": [ + 818, + 681, + 959, + 994 + ], + "yellow object": [ + 900, + 534, + 970, + 660 + ], + "white bin": [ + 182, + 1, + 267, + 67 + ], + "green cloth": [ + 118, + 269, + 792, + 820 + ], + "toy stove": [ + 809, + 136, + 995, + 376 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully spread on the table, indicating the unfolding task is complete. The gripper is open and positioned above the cloth, showing no active grasp. The next action is to retreat the end-effector upward and away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 41, + "end": 42 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.30974632501602173, + -0.060994952917099, + 0.1006196066737175, + 2.9543795585632324, + 0.01239673513919115, + -0.9536313414573669 + ], + "gripper_value": 0.9913908839225769 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from its folded state at the top-left to a fully spread position towards the bottom-right of the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach top left corner" + }, + { + "id": 2, + "subtask": "adjust grip on cloth" + }, + { + "id": 3, + "subtask": "drag cloth diagonally" + }, + { + "id": 4, + "subtask": "continue unfolding motion" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully spread on the table, indicating the unfolding task is complete. The gripper is open and positioned above the cloth, showing no active grasp. The next action is to retreat the end-effector upward and away from the workspace." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 42 + }, + "cache_ref": { + "anchor_ref_reasoning": 41 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 41, + "end": 42 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001027_ecot.json b/cot/chunk-0001/episode_0001027_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7f8d12feebeb7ddb03429adac7ea132a8e2a751a --- /dev/null +++ b/cot/chunk-0001/episode_0001027_ecot.json @@ -0,0 +1,2272 @@ +{ + "task_name": "episode_0001027", + "episode_json": "json/chunk-0001/episode_0001027.json", + "video_path": "videos/chunk-0001/image_0/episode_0001027.mp4", + "instruction": "Move the broccoli to the left side of the bowl.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001027.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.2860000729560852, + "std": 0.13387803733348846, + "delta_total": 0.005259275436401367, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.28600, std=0.13388, total_delta=0.00526). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ], + [ + 2, + 20, + 31 + ], + [ + 3, + 32, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp broccoli\", \"start\": 0, \"end\": 19, \"planning\": \"Move end-effector toward broccoli, close gripper to secure it, and lift slightly as confirmed by gripper closure and image evidence.\"},\n {\"id\": 2, \"name\": \"transport broccoli leftward\", \"start\": 20, \"end\": 31, \"planning\": \"Carry grasped broccoli horizontally toward the left side of the bowl while maintaining grip, then begin releasing near target location.\"},\n {\"id\": 3, \"name\": \"release and retreat from broccoli\", \"start\": 32, \"end\": 37, \"planning\": \"Open gripper to release broccoli on the left side of the bowl, then retract end-effector upward and away without further contact.\"}\n ],\n \"global_plan\": \"Grasp broccoli from its initial position, move it leftward across the table to the designated spot beside the bowl, and release it cleanly before retreating.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.27) consistent with grasping; Segment 2 maintains grip during transport and begins release at frame 31; Segment 3 has no meaningful gripper activity — used for release completion and retreat only, avoiding any 'grasp' or 'hold' terminology.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp broccoli", + "start": 0, + "end": 19, + "planning": "Move end-effector toward broccoli, close gripper to secure it, and lift slightly as confirmed by gripper closure and image evidence." + }, + { + "id": 2, + "name": "transport broccoli leftward", + "start": 20, + "end": 31, + "planning": "Carry grasped broccoli horizontally toward the left side of the bowl while maintaining grip, then begin releasing near target location." + }, + { + "id": 3, + "name": "release and retreat from broccoli", + "start": 32, + "end": 37, + "planning": "Open gripper to release broccoli on the left side of the bowl, then retract end-effector upward and away without further contact." + } + ], + "global_plan": "Grasp broccoli from its initial position, move it leftward across the table to the designated spot beside the bowl, and release it cleanly before retreating.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.27) consistent with grasping; Segment 2 maintains grip during transport and begins release at frame 31; Segment 3 has no meaningful gripper activity — used for release completion and retreat only, avoiding any 'grasp' or 'hold' terminology." + } + }, + "episode_goal": "Move the broccoli to the left side of the bowl.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302134573459625, + -0.031207652762532234, + 0.14587627351284027, + 2.693300724029541, + -0.39902985095977783, + 0.7487554550170898 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 13 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3292354941368103, + -0.030990460887551308, + 0.13529612123966217, + 2.7181434631347656, + -0.37621164321899414, + 0.7426649332046509 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 4 cm, move down 12 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32913708686828613, + -0.047586437314748764, + 0.11596623063087463, + 2.7682995796203613, + -0.34906551241874695, + 0.6756099462509155 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move down 10 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.33277973532676697, + -0.05325058475136757, + 0.10453373938798904, + 2.779287576675415, + -0.3465527296066284, + 0.6525445580482483 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 586, + 453, + 682, + 555 + ], + "metal bowl": [ + 400, + 231, + 648, + 499 + ], + "blue cloth": [ + 449, + 522, + 731, + 865 + ], + "wooden countertop": [ + 4, + 187, + 857, + 992 + ], + "blue scrub brush": [ + 257, + 569, + 477, + 716 + ] + } + } + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 7 cm, tilt left 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3335699141025543, + -0.059728898108005524, + 0.08874766528606415, + 2.8038976192474365, + -0.32378414273262024, + 0.6371417045593262 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.334001749753952, + -0.058927021920681, + 0.07096672803163528, + 2.8492043018341064, + -0.30906277894973755, + 0.632486879825592 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 2 cm, move up 4 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3382803499698639, + -0.05544907599687576, + 0.0511319637298584, + 2.902552366256714, + -0.2992154359817505, + 0.6178873181343079 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 8 cm, tilt right 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3430400490760803, + -0.0538334883749485, + 0.03723008558154106, + 2.9282243251800537, + -0.28980007767677307, + 0.6267510056495667 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move up 11 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3462466597557068, + -0.05361570417881012, + 0.022342875599861145, + 2.943063974380493, + -0.27962204813957214, + 0.6305350661277771 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the table with the broccoli visible to the right of the bowl. The gripper is currently open and has not yet made contact with the broccoli. The next action is to lower the arm and close the gripper to grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 10 cm, move up 13 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.35383808612823486, + -0.053361568599939346, + 0.01572425663471222, + 2.935361862182617, + -0.3004070818424225, + 0.6434445381164551 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 14 cm, move up 14 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36282941699028015, + -0.05998547747731209, + 0.016214841976761818, + 2.9333648681640625, + -0.30421456694602966, + 0.6469576358795166 + ], + "gripper_value": 0.7359045147895813 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 18 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.36049723625183105, + -0.06757812201976776, + 0.015938235446810722, + 2.9377920627593994, + -0.3011992275714874, + 0.6397078037261963 + ], + "gripper_value": 0.729983389377594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 19 cm, move up 13 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3599739968776703, + -0.06987427175045013, + 0.01659943163394928, + 2.937330961227417, + -0.29865115880966187, + 0.6378378868103027 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 19 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move left 4 cm, move down 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.362388551235199, + -0.0783783420920372, + 0.03012135811150074, + 2.91949200630188, + -0.2943781614303589, + 0.6289743781089783 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697222173213959, + -0.08355225622653961, + 0.07152219116687775, + 2.8473615646362305, + -0.34448757767677307, + 0.6418205499649048 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 20 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 6 cm, move down 7 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36570045351982117, + -0.08091717958450317, + 0.11243754625320435, + 2.7843759059906006, + -0.38218045234680176, + 0.6554262042045593 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 20 cm, move up 3 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 3 cm, move left 3 cm, move down 9 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3623926639556885, + -0.04880731925368309, + 0.1285484880208969, + 2.7659263610839844, + -0.3547300696372986, + 0.7133260369300842 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 17 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move down 10 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3577324450016022, + 0.0016911920392885804, + 0.15165245532989502, + 2.7268660068511963, + -0.38128650188446045, + 0.8188916444778442 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue scrub brush": [ + 257, + 570, + 477, + 717 + ], + "blue cloth": [ + 449, + 522, + 732, + 865 + ], + "green sponge": [ + 536, + 78, + 650, + 209 + ], + "wooden countertop": [ + 4, + 188, + 858, + 991 + ], + "metal bowl": [ + 401, + 223, + 651, + 496 + ] + } + } + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 12 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 1 cm, move down 11 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35065558552742004, + 0.044203098863363266, + 0.15470808744430542, + 2.74503755569458, + -0.38082849979400635, + 0.8873835206031799 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 5 cm, move right 2 cm, move down 12 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3475361466407776, + 0.08467167615890503, + 0.1602986454963684, + 2.727219343185425, + -0.39202558994293213, + 0.9790252447128296 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "approach and grasp broccoli", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, keep gripper closed; then move forward 5 cm, move right 1 cm, move down 12 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.34095656871795654, + 0.11883765459060669, + 0.14159604907035828, + 2.7829785346984863, + -0.37490272521972656, + 1.0238425731658936 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 12 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3366471529006958, + 0.14563080668449402, + 0.12232904136180878, + 2.8251750469207764, + -0.36968252062797546, + 1.0657230615615845 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 11 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3392419219017029, + 0.1594727486371994, + 0.10554464906454086, + 2.850656032562256, + -0.38967421650886536, + 1.0909919738769531 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 5 cm, move down 9 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.34721583127975464, + 0.16972683370113373, + 0.08858853578567505, + 2.8644659519195557, + -0.3916168510913849, + 1.1043705940246582 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3534206449985504, + 0.17536243796348572, + 0.06682241708040237, + 2.885632038116455, + -0.37261962890625, + 1.1220793724060059 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is positioned above the broccoli on the wooden table, with the bowl nearby to the right. The gripper is currently open and approaching the broccoli, indicating the grasp has not yet occurred. The next action is to close the gripper to securely grasp the broccoli." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3692331910133362, + 0.1498337984085083, + 0.05279695242643356, + 2.8925275802612305, + -0.35699549317359924, + 1.1092305183410645 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.38562920689582825, + 0.11911647021770477, + 0.03869200497865677, + 2.9003610610961914, + -0.33041465282440186, + 1.068153738975525 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 449, + 522, + 731, + 865 + ], + "blue scrub brush": [ + 257, + 570, + 477, + 717 + ], + "green sponge": [ + 318, + 217, + 393, + 320 + ], + "wooden countertop": [ + 4, + 190, + 857, + 991 + ], + "metal bowl": [ + 401, + 224, + 650, + 496 + ] + } + } + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.38953766226768494, + 0.10862588882446289, + 0.028050409629940987, + 2.9097585678100586, + -0.3116581439971924, + 1.0640249252319336 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.39064887166023254, + 0.10334077477455139, + 0.019235732033848763, + 2.9285738468170166, + -0.3034958839416504, + 1.0499516725540161 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3906930387020111, + 0.10421992093324661, + 0.018260926008224487, + 2.928384780883789, + -0.305357426404953, + 1.0617868900299072 + ], + "gripper_value": 0.728995144367218 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.39088812470436096, + 0.10506061464548111, + 0.017689058557152748, + 2.9264464378356934, + -0.3097149729728699, + 1.0708688497543335 + ], + "gripper_value": 0.8055269122123718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.38401666283607483, + 0.11028803884983063, + 0.01632091775536537, + 2.9615213871002197, + -0.3092122972011566, + 1.145530343055725 + ], + "gripper_value": 1.0149952173233032 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "transport broccoli leftward", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 20, + "end": 31 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.378538578748703, + 0.11202334612607956, + 0.01796143129467964, + 2.9521384239196777, + -0.35164621472358704, + 1.229955792427063 + ], + "gripper_value": 1.0112061500549316 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "release and retreat from broccoli", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 37 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.38033586740493774, + 0.11397215723991394, + 0.027208874002099037, + 2.9294087886810303, + -0.37112295627593994, + 1.2505784034729004 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "release and retreat from broccoli", + "subtask_reasoning": "The robot is holding the broccoli and has moved it slightly leftward from its initial position, now positioned above the table to the left of the bowl. The gripper remains closed with no recent change, confirming continued grasp. Next, continue translating the broccoli further left to align it beside the bowl before release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 37 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3769311010837555, + 0.1142008975148201, + 0.03266211599111557, + 2.9145030975341797, + -0.3742225766181946, + 1.2738367319107056 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "release and retreat from broccoli", + "subtask_reasoning": "The broccoli has been transported to the left side of the bowl and is currently being held just above the target location. The gripper is open, indicating the object has likely been released or is in the final stage of release. The next action is to retreat the end-effector upward and away from the broccoli to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 32, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.3751828670501709, + 0.1156376525759697, + 0.05878297612071037, + 2.855264663696289, + -0.4081539511680603, + 1.3078043460845947 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "release and retreat from broccoli", + "subtask_reasoning": "The broccoli has been transported to the left side of the bowl and is currently being held just above the target location. The gripper is open, indicating the object has likely been released or is in the final stage of release. The next action is to retreat the end-effector upward and away from the broccoli to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.37106236815452576, + 0.11708276718854904, + 0.07731714099645615, + 2.807034730911255, + -0.4029247760772705, + 1.3323005437850952 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 417, + 234, + 667, + 510 + ], + "blue cloth": [ + 449, + 522, + 731, + 865 + ], + "blue scrub brush": [ + 257, + 569, + 477, + 716 + ], + "green sponge": [ + 341, + 284, + 422, + 382 + ], + "wooden countertop": [ + 4, + 188, + 857, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "release and retreat from broccoli", + "subtask_reasoning": "The broccoli has been transported to the left side of the bowl and is currently being held just above the target location. The gripper is open, indicating the object has likely been released or is in the final stage of release. The next action is to retreat the end-effector upward and away from the broccoli to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.36299076676368713, + 0.11378452926874161, + 0.10084934532642365, + 2.754657506942749, + -0.3526736795902252, + 1.3383597135543823 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the broccoli to the left side of the bowl." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp broccoli" + }, + { + "id": 2, + "subtask": "transport broccoli leftward" + }, + { + "id": 3, + "subtask": "release and retreat from broccoli" + } + ], + "subtask_name": "release and retreat from broccoli", + "subtask_reasoning": "The broccoli has been transported to the left side of the bowl and is currently being held just above the target location. The gripper is open, indicating the object has likely been released or is in the final stage of release. The next action is to retreat the end-effector upward and away from the broccoli to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 34 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 32, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001028_ecot.json b/cot/chunk-0001/episode_0001028_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..39dc44a64cf92c1d365708a7c909e48bebc6b29c --- /dev/null +++ b/cot/chunk-0001/episode_0001028_ecot.json @@ -0,0 +1,2197 @@ +{ + "task_name": "episode_0001028", + "episode_json": "json/chunk-0001/episode_0001028.json", + "video_path": "videos/chunk-0001/image_0/episode_0001028.mp4", + "instruction": "Take the spoon to the right side of the burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 33, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001028.json" + }, + "fps": 5.0, + "T_eff": 33, + "gripper_behavior_summary": { + "available": true, + "range": 0.6824499368667603, + "std": 0.32163557410240173, + "delta_total": 0.001993715763092041, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.68245, std=0.32164, total_delta=0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 229, + 229, + 229, + 229 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 19 + ], + [ + 4, + 20, + 28 + ], + [ + 5, + 29, + 32 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the spoon on the stovetop without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp spoon\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the spoon handle to secure a firm grasp.\"},\n {\"id\": 3, \"name\": \"lift and reposition spoon\", \"start\": 13, \"end\": 19, \"planning\": \"Lift the spoon slightly and begin moving it toward the right side of the burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"place spoon at target\", \"start\": 20, \"end\": 28, \"planning\": \"Lower the spoon onto the stovetop at the desired location to the right of the burner and release contact.\"},\n {\"id\": 5, \"name\": \"retreat from spoon\", \"start\": 29, \"end\": 32, \"planning\": \"Open the gripper fully and move the end-effector away from the spoon to complete the task.\"}\n ],\n \"global_plan\": \"Approach the spoon, grasp it securely, lift and transport it to the right side of the burner, place it down gently, then retreat with an open gripper.\",\n \"notes\": \"Segment 1 shows no gripper closure — consistent with approach. Segment 2 shows significant gripper closing — supports grasp. Segment 4 shows stable low gripper value during motion then slight opening — consistent with placement. Segment 5 shows full opening — confirms release and retreat. All subtasks align with observed gripper behavior and spatial motion.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the spoon on the stovetop without closing the gripper." + }, + { + "id": 2, + "name": "grasp spoon", + "start": 6, + "end": 12, + "planning": "Close the gripper around the spoon handle to secure a firm grasp." + }, + { + "id": 3, + "name": "lift and reposition spoon", + "start": 13, + "end": 19, + "planning": "Lift the spoon slightly and begin moving it toward the right side of the burner while maintaining grip." + }, + { + "id": 4, + "name": "place spoon at target", + "start": 20, + "end": 28, + "planning": "Lower the spoon onto the stovetop at the desired location to the right of the burner and release contact." + }, + { + "id": 5, + "name": "retreat from spoon", + "start": 29, + "end": 32, + "planning": "Open the gripper fully and move the end-effector away from the spoon to complete the task." + } + ], + "global_plan": "Approach the spoon, grasp it securely, lift and transport it to the right side of the burner, place it down gently, then retreat with an open gripper.", + "notes": "Segment 1 shows no gripper closure — consistent with approach. Segment 2 shows significant gripper closing — supports grasp. Segment 4 shows stable low gripper value during motion then slight opening — consistent with placement. Segment 5 shows full opening — confirms release and retreat. All subtasks align with observed gripper behavior and spatial motion." + } + }, + "episode_goal": "Place the spoon on the right side of the burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.39951351284980774, + 0.008348454721271992, + 0.04185573011636734, + 3.060737371444702, + -0.08382775634527206, + 0.11871509999036789 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the cooktop surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 1 cm, rotate counterclockwise 30 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3940207362174988, + 0.0074651506729424, + 0.0259664636105299, + 3.0640084743499756, + -0.03992137312889099, + 0.11087232083082199 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the cooktop surface. No movement or grasping has occurred yet as the gripper remains fully open. The next action is to move the end effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 9 cm, move left 4 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper open; then move back 4 cm, move left 3 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3754205107688904, + 0.010085420683026314, + 0.02592586912214756, + 3.0856401920318604, + -0.017477285116910934, + 0.029808012768626213 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left burner. The gripper is open and no grasping has occurred yet. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 4 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.36236363649368286, + 0.016241488978266716, + 0.05473925173282623, + 3.097404718399048, + -0.11202916502952576, + -0.034108150750398636 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left burner. The gripper is open and no grasping has occurred yet. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3403295576572418, + 0.027698438614606857, + 0.06860852986574173, + 3.084812641143799, + -0.18533925712108612, + -0.11510776728391647 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 208, + 373, + 306, + 564 + ] + } + } + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left burner. The gripper is open and no grasping has occurred yet. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3218846321105957, + 0.031975675374269485, + 0.06046152114868164, + 3.129589557647705, + -0.16786973178386688, + -0.3458249270915985 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left burner. The gripper is open and no grasping has occurred yet. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.307771235704422, + 0.0473068431019783, + 0.04720226302742958, + -3.116255760192871, + -0.13097240030765533, + -0.4684280455112457 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left burner. The gripper is open and no grasping has occurred yet. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 2 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29140838980674744, + 0.062043555080890656, + 0.03189685195684433, + -3.0842843055725098, + -0.09509195387363434, + -0.562568187713623 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left burner. The gripper is open and no grasping has occurred yet. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, move right 3 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.28112655878067017, + 0.07127952575683594, + 0.02263697423040867, + -3.054619073867798, + -0.06619401276111603, + -0.6038010716438293 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 209, + 372, + 298, + 564 + ], + "wooden board": [ + 160, + 61, + 279, + 277 + ] + } + } + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot is positioned above the stove with the spoon visible on the left burner. The gripper is open and no grasping has occurred yet. The next action is to move the end-effector closer to the spoon to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 5 cm, close gripper; then move back 2 cm, move right 4 cm, move up 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27426663041114807, + 0.07608074694871902, + 0.0053159501403570175, + -3.075021982192993, + -0.020124031230807304, + -0.5983152985572815 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is now positioned above it with the gripper open. The gripper signal shows a slight decrease, suggesting initial contact or preparation to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then move back 1 cm, move right 3 cm, move up 6 cm, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.26549413800239563, + 0.07458217442035675, + -0.008529214188456535, + -3.0842220783233643, + -0.0033453102223575115, + -0.6369300484657288 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is now positioned above it with the gripper open. The gripper signal shows a slight decrease, suggesting initial contact or preparation to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move right 3 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2628723084926605, + 0.07648809999227524, + -0.02193266712129116, + -3.076571464538574, + 0.028242191299796104, + -0.6533318758010864 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is now positioned above it with the gripper open. The gripper signal shows a slight decrease, suggesting initial contact or preparation to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 3 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2650349736213684, + 0.07159917801618576, + -0.023166457191109657, + -3.0576858520507812, + 0.01689482107758522, + -0.6542211771011353 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "grasp spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is now positioned above it with the gripper open. The gripper signal shows a slight decrease, suggesting initial contact or preparation to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move right 3 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, tilt right 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.26430851221084595, + 0.06362862139940262, + -0.025306150317192078, + -3.0509138107299805, + 0.01979707181453705, + -0.6737736463546753 + ], + "gripper_value": 0.3703518807888031 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is now positioned above it with the gripper open. The gripper signal shows a slight decrease, suggesting initial contact or preparation to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 4 cm, move left 1 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.26344606280326843, + 0.06213390454649925, + -0.025987112894654274, + -3.0521748065948486, + 0.019861044362187386, + -0.6710066795349121 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is now positioned above it with the gripper open. The gripper signal shows a slight decrease, suggesting initial contact or preparation to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 5 cm, move right 1 cm, move down 2 cm, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.263933926820755, + 0.05853455513715744, + -0.025303998962044716, + -3.0433084964752197, + 0.022903744131326675, + -0.6819162964820862 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The robot has approached the spoon on the stovetop and is now positioned above it with the gripper open. The gripper signal shows a slight decrease, suggesting initial contact or preparation to close. The next action is to close the gripper to securely grasp the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 8 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 7 cm, move right 2 cm, move down 4 cm, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2543238699436188, + 0.040743160992860794, + -0.022409256547689438, + -3.0991718769073486, + 0.017009101808071136, + -0.6922379732131958 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 40 degrees, keep gripper closed; then move forward 8 cm, move right 3 cm, move down 6 cm, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2515488266944885, + 0.029544567689299583, + 0.0002138758427463472, + -3.1142992973327637, + -0.03826618939638138, + -0.6956784725189209 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 5 cm, rotate clockwise 40 degrees, keep gripper closed; then move forward 9 cm, move right 4 cm, move down 7 cm, rotate clockwise 60 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.24767090380191803, + 0.024198243394494057, + 0.01934565231204033, + -3.1408278942108154, + -0.08147771656513214, + -0.5683661699295044 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, rotate clockwise 30 degrees, keep gripper closed; then move forward 10 cm, move right 4 cm, move down 7 cm, rotate clockwise 60 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.25054931640625, + 0.029870841652154922, + 0.03741089254617691, + -3.126591205596924, + -0.07096350193023682, + -0.305386483669281 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "lift and reposition spoon", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 10 cm, move right 4 cm, move down 7 cm, rotate clockwise 60 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.26668819785118103, + 0.03666756674647331, + 0.051494620740413666, + 3.0724244117736816, + -0.08855066448450089, + -0.054315235465765 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 206, + 366, + 307, + 564 + ], + "wooden board": [ + 159, + 46, + 311, + 274 + ] + } + } + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, move down 7 cm, rotate clockwise 60 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2874443531036377, + 0.04690152034163475, + 0.05651377886533737, + 2.975510358810425, + -0.10544722527265549, + 0.20385032892227173 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 5 cm, move down 8 cm, rotate clockwise 50 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.303914874792099, + 0.04939977079629898, + 0.05499166250228882, + 2.916191339492798, + -0.07576407492160797, + 0.4615885615348816 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 5 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 30 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.31128355860710144, + 0.04360990971326828, + 0.04657915234565735, + 2.9251880645751953, + -0.049724023789167404, + 0.7249155044555664 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The spoon is currently grasped and lifted above the burner area. The gripper has maintained a stable hold during the recent frames, indicating successful acquisition. The next action is to translate the spoon laterally to position it over the right side of the burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 5 cm, move down 7 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3182278871536255, + 0.028573565185070038, + 0.031293246895074844, + 2.9783124923706055, + -0.05575258284807205, + 0.9310393333435059 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is holding the spoon above the right burner, having completed the approach and grasp phases. The gripper remains closed with minimal motion, indicating the spoon is being held in position. The next action is to gently release the spoon onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 3 cm, move down 5 cm, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3326418101787567, + 0.016470517963171005, + 0.01229733508080244, + 2.9956111907958984, + -0.028525952249765396, + 0.9925476908683777 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is holding the spoon above the right burner, having completed the approach and grasp phases. The gripper remains closed with minimal motion, indicating the spoon is being held in position. The next action is to gently release the spoon onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 3 cm, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.34764111042022705, + 0.004093690309673548, + -0.009196468628942966, + 3.029146671295166, + -0.0031892277766019106, + 1.0013800859451294 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is holding the spoon above the right burner, having completed the approach and grasp phases. The gripper remains closed with minimal motion, indicating the spoon is being held in position. The next action is to gently release the spoon onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.360472708940506, + 0.00046054887934587896, + -0.018980594351887703, + 3.0258989334106445, + -0.014961161650717258, + 1.0274547338485718 + ], + "gripper_value": 0.3236125409603119 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is holding the spoon above the right burner, having completed the approach and grasp phases. The gripper remains closed with minimal motion, indicating the spoon is being held in position. The next action is to gently release the spoon onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.370975136756897, + -0.0033997702412307262, + -0.021106937900185585, + 3.0280284881591797, + -0.027203509584069252, + 1.030524730682373 + ], + "gripper_value": 0.3669656813144684 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "place spoon at target", + "subtask_reasoning": "The robot is holding the spoon above the right burner, having completed the approach and grasp phases. The gripper remains closed with minimal motion, indicating the spoon is being held in position. The next action is to gently release the spoon onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 28 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 28 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.37124985456466675, + -0.005449568387120962, + -0.020956045016646385, + 3.0164687633514404, + -0.016089221462607384, + 1.0519920587539673 + ], + "gripper_value": 0.6681591272354126 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The robot is holding the spoon above the right burner, having completed the approach and grasp phases. The gripper remains closed with minimal motion, indicating the spoon is being held in position. The next action is to gently release the spoon onto the burner surface." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3669154942035675, + -0.008475502952933311, + -0.019765954464673996, + 3.016486406326294, + 0.0029052337631583214, + 1.0272575616836548 + ], + "gripper_value": 0.9398812651634216 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The spoon has been successfully placed on the right side of the burner. The robot is currently positioned above the spoon with an open gripper, having completed the placement action. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3643169701099396, + -0.011269889771938324, + -0.01088994462043047, + 3.0079843997955322, + 0.010777405463159084, + 0.9981944561004639 + ], + "gripper_value": 1.0060625076293945 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The spoon has been successfully placed on the right side of the burner. The robot is currently positioned above the spoon with an open gripper, having completed the placement action. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3655400276184082, + -0.01489043515175581, + 0.015266785398125648, + 2.960580348968506, + 0.006400808226317167, + 0.9686504006385803 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the spoon on the right side of the burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "grasp spoon" + }, + { + "id": 3, + "subtask": "lift and reposition spoon" + }, + { + "id": 4, + "subtask": "place spoon at target" + }, + { + "id": 5, + "subtask": "retreat from spoon" + } + ], + "subtask_name": "retreat from spoon", + "subtask_reasoning": "The spoon has been successfully placed on the right side of the burner. The robot is currently positioned above the spoon with an open gripper, having completed the placement action. The next step is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 32 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 29, + "end": 32 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001029_ecot.json b/cot/chunk-0001/episode_0001029_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a2036946c3d1f52500eeaf14314927e11abe7dde --- /dev/null +++ b/cot/chunk-0001/episode_0001029_ecot.json @@ -0,0 +1,3035 @@ +{ + "task_name": "episode_0001029", + "episode_json": "json/chunk-0001/episode_0001029.json", + "video_path": "videos/chunk-0001/image_0/episode_0001029.mp4", + "instruction": "Move the green cloth behind the pot with the peeler.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 44, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001029.json" + }, + "fps": 5.0, + "T_eff": 44, + "gripper_behavior_summary": { + "available": true, + "range": 0.29327213764190674, + "std": 0.1400836706161499, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.29327, std=0.14008, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 25 + ], + [ + 3, + 26, + 29 + ], + [ + 4, + 30, + 35 + ], + [ + 5, + 36, + 43 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and grasp peeler\", \"start\": 0, \"end\": 17, \"planning\": \"Move end-effector toward the red peeler on the green cloth and close gripper to secure it.\"},\n {\"id\": 2, \"name\": \"lift and reposition peeler\", \"start\": 18, \"end\": 25, \"planning\": \"Lift the grasped peeler and move it laterally away from the cloth toward the target drop zone behind the pot.\"},\n {\"id\": 3, \"name\": \"lower peeler behind pot\", \"start\": 26, \"end\": 29, \"planning\": \"Descend with the peeler to position it just above the table surface behind the metal pot.\"},\n {\"id\": 4, \"name\": \"release peeler\", \"start\": 30, \"end\": 35, \"planning\": \"Open gripper to release the peeler onto the table behind the pot, confirming detachment via gripper opening signal.\"},\n {\"id\": 5, \"name\": \"retreat to home position\", \"start\": 36, \"end\": 43, \"planning\": \"Withdraw end-effector upward and backward to a neutral pose, completing the task without further interaction.\"}\n ],\n \"global_plan\": \"Grasp the red peeler from the green cloth, lift and carry it behind the metal pot, release it there, then retreat to a safe position.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.287) consistent with grasping; Segment 4 shows meaningful opening (delta=+0.288) consistent with releasing. Segments 2, 3, and 5 show no gripper change — described as motion-only phases. Frame coverage is contiguous and complete [0-43].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and grasp peeler", + "start": 0, + "end": 17, + "planning": "Move end-effector toward the red peeler on the green cloth and close gripper to secure it." + }, + { + "id": 2, + "name": "lift and reposition peeler", + "start": 18, + "end": 25, + "planning": "Lift the grasped peeler and move it laterally away from the cloth toward the target drop zone behind the pot." + }, + { + "id": 3, + "name": "lower peeler behind pot", + "start": 26, + "end": 29, + "planning": "Descend with the peeler to position it just above the table surface behind the metal pot." + }, + { + "id": 4, + "name": "release peeler", + "start": 30, + "end": 35, + "planning": "Open gripper to release the peeler onto the table behind the pot, confirming detachment via gripper opening signal." + }, + { + "id": 5, + "name": "retreat to home position", + "start": 36, + "end": 43, + "planning": "Withdraw end-effector upward and backward to a neutral pose, completing the task without further interaction." + } + ], + "global_plan": "Grasp the red peeler from the green cloth, lift and carry it behind the metal pot, release it there, then retreat to a safe position.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.287) consistent with grasping; Segment 4 shows meaningful opening (delta=+0.288) consistent with releasing. Segments 2, 3, and 5 show no gripper change — described as motion-only phases. Frame coverage is contiguous and complete [0-43]." + } + }, + "episode_goal": "Move the green cloth behind the pot with the peeler.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28064388036727905, + 0.006124087609350681, + 0.15875990688800812, + -3.137970447540283, + -0.11839615553617477, + 0.06034918874502182 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 15 cm, move down 10 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.27944305539131165, + 0.006103129126131535, + 0.150826558470726, + -3.1364893913269043, + -0.09079509228467941, + 0.05712928622961044 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 16 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28040412068367004, + 0.03143157437443733, + 0.15000401437282562, + -3.129412889480591, + -0.10903924703598022, + 0.11203634738922119 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 15 cm, move down 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.279704213142395, + 0.05730356276035309, + 0.14410726726055145, + -3.1182031631469727, + -0.09982013702392578, + 0.11805560439825058 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 37, + 187, + 898, + 950 + ], + "green napkin": [ + 503, + 391, + 792, + 682 + ], + "red cup": [ + 220, + 306, + 306, + 410 + ], + "fork": [ + 544, + 388, + 691, + 679 + ], + "black mount": [ + 243, + 4, + 524, + 288 + ], + "metal bowl": [ + 160, + 254, + 365, + 462 + ], + "grey cabinet": [ + 160, + 605, + 724, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 12 cm, move down 12 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2854572534561157, + 0.09158477187156677, + 0.14520543813705444, + -3.086491584777832, + -0.10817191749811172, + 0.09699531644582748 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 9 cm, move down 13 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29611584544181824, + 0.12206084281206131, + 0.12960323691368103, + -3.0917515754699707, + -0.09080001711845398, + 0.08528000116348267 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, move down 11 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.31044793128967285, + 0.13517804443836212, + 0.10817214101552963, + -3.1277825832366943, + -0.07831599563360214, + 0.06492989510297775 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, move down 7 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3174773156642914, + 0.14348609745502472, + 0.09381860494613647, + -3.1250717639923096, + -0.07263276726007462, + 0.05646262317895889 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the workspace with the gripper open, approaching the red peeler resting on the green cloth. No part of the task has been completed yet. The next action is to lower the end-effector to make contact with the peeler in preparation for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.31974783539772034, + 0.14823642373085022, + 0.07514619827270508, + -3.115379810333252, + -0.045618388801813126, + 0.038988132029771805 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.31944864988327026, + 0.1523098200559616, + 0.06437086313962936, + -3.096581220626831, + -0.025845445692539215, + 0.019908353686332703 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 1 cm, move right 6 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3149954080581665, + 0.1569831669330597, + 0.05933358520269394, + -3.0966248512268066, + -0.019462749361991882, + -0.0027056224644184113 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 7 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 2 cm, move right 10 cm, move up 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3058309257030487, + 0.16868489980697632, + 0.03988474979996681, + -3.105074644088745, + 0.03685428574681282, + 0.008940030820667744 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, close gripper; then move back 3 cm, move right 15 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.30430468916893005, + 0.17949119210243225, + 0.030670825392007828, + -3.1088409423828125, + 0.058005835860967636, + 0.02039426937699318 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 37, + 171, + 899, + 953 + ], + "green napkin": [ + 502, + 391, + 792, + 682 + ], + "metal bowl": [ + 160, + 259, + 365, + 463 + ], + "fork": [ + 544, + 388, + 690, + 678 + ], + "white container": [ + 312, + 804, + 501, + 994 + ], + "grey cabinet": [ + 160, + 605, + 729, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 10 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 4 cm, move right 20 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.30468693375587463, + 0.18137133121490479, + 0.022542307153344154, + -3.1210315227508545, + 0.07796512544155121, + 0.019274689257144928 + ], + "gripper_value": 0.930367648601532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 25 cm, move down 2 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3042544424533844, + 0.1810200810432434, + 0.01901358924806118, + -3.12894868850708, + 0.08426622301340103, + 0.02112426981329918 + ], + "gripper_value": 0.7151217460632324 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 11 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 29 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3057367205619812, + 0.18080949783325195, + 0.018444787710905075, + -3.1276731491088867, + 0.07073823362588882, + 0.02997644431889057 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 12 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 30 cm, move down 7 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3059365153312683, + 0.17656277120113373, + 0.03997692093253136, + -3.125051498413086, + 0.01464605238288641, + 0.06449351459741592 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move back 5 cm, move right 27 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.30812782049179077, + 0.17019787430763245, + 0.09595630317926407, + -3.1303935050964355, + -0.10429979115724564, + 0.20978477597236633 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "approach and grasp peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 5 cm, move right 27 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.302812397480011, + 0.15266846120357513, + 0.13392993807792664, + 3.1215720176696777, + -0.1540393978357315, + 0.36646056175231934 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 27 cm, move down 9 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29721659421920776, + 0.09740491956472397, + 0.14392103254795074, + 3.0760459899902344, + -0.13455404341220856, + 0.28781262040138245 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 22 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 2 cm, move left 4 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28207921981811523, + 0.05340156704187393, + 0.15028688311576843, + 3.0495336055755615, + -0.13387919962406158, + 0.22010083496570587 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot is positioned above the wooden table where a red peeler rests on a green cloth next to a metal pot. The gripper is currently open and approaching the peeler handle. The next action is to lower the gripper and close it to grasp the peeler." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 17 cm, move down 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.27405235171318054, + 0.002172816311940551, + 0.1429630070924759, + 3.081718921661377, + -0.109133280813694, + 0.1259881854057312 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot has successfully grasped the red peeler from the green cloth and is currently lifting it upwards, as indicated by the motion and the object being suspended in the air. The peeler is now positioned above the cloth but has not yet been moved behind the metal pot. The next action is to translate the arm to carry the peeler towards the area behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 12 cm, move down 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 1 cm, move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26433226466178894, + -0.04593807831406593, + 0.12939272820949554, + 3.098418712615967, + -0.09641413390636444, + 0.03604370728135109 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot has successfully grasped the red peeler from the green cloth and is currently lifting it upwards, as indicated by the motion and the object being suspended in the air. The peeler is now positioned above the cloth but has not yet been moved behind the metal pot. The next action is to translate the arm to carry the peeler towards the area behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move down 8 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.2569268047809601, + -0.09620096534490585, + 0.11031173169612885, + 3.1175038814544678, + -0.06319560110569, + -0.05257008969783783 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot has successfully grasped the red peeler from the green cloth and is currently lifting it upwards, as indicated by the motion and the object being suspended in the air. The peeler is now positioned above the cloth but has not yet been moved behind the metal pot. The next action is to translate the arm to carry the peeler towards the area behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 7 cm, tilt forward 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2516927719116211, + -0.13929271697998047, + 0.08328637480735779, + 3.1384215354919434, + -0.010348211973905563, + -0.08353440463542938 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 156, + 254, + 364, + 464 + ], + "fork": [ + 545, + 388, + 673, + 679 + ], + "red cup": [ + 727, + 529, + 825, + 682 + ], + "wooden countertop": [ + 37, + 157, + 851, + 950 + ], + "grey cabinet": [ + 160, + 604, + 725, + 994 + ], + "green napkin": [ + 503, + 387, + 749, + 683 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot has successfully grasped the red peeler from the green cloth and is currently lifting it upwards, as indicated by the motion and the object being suspended in the air. The peeler is now positioned above the cloth but has not yet been moved behind the metal pot. The next action is to translate the arm to carry the peeler towards the area behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.25339317321777344, + -0.14300860464572906, + 0.060085639357566833, + 3.1309313774108887, + 0.03016728162765503, + -0.06629738956689835 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lift and reposition peeler", + "subtask_reasoning": "The robot has successfully grasped the red peeler from the green cloth and is currently lifting it upwards, as indicated by the motion and the object being suspended in the air. The peeler is now positioned above the cloth but has not yet been moved behind the metal pot. The next action is to translate the arm to carry the peeler towards the area behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 1 cm, keep gripper closed; then move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move up 4 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 18, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25070416927337646, + -0.1207481324672699, + 0.045242488384246826, + -3.139662265777588, + 0.0516054593026638, + 0.007942836731672287 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lower peeler behind pot", + "subtask_reasoning": "The robot has successfully grasped the red peeler from the green cloth and is currently lifting it upwards, as indicated by the motion and the object being suspended in the air. The peeler is now positioned above the cloth but has not yet been moved behind the metal pot. The next action is to translate the arm to carry the peeler towards the area behind the pot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.24145542085170746, + -0.09273122251033783, + 0.04319118335843086, + -3.121047258377075, + 0.061518345028162, + 0.07815800607204437 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 156, + 254, + 364, + 465 + ], + "wooden countertop": [ + 33, + 160, + 896, + 956 + ], + "green napkin": [ + 503, + 385, + 688, + 604 + ], + "red cup": [ + 621, + 652, + 715, + 793 + ], + "black mount": [ + 557, + 473, + 860, + 752 + ], + "grey cabinet": [ + 159, + 603, + 728, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lower peeler behind pot", + "subtask_reasoning": "The robot arm is positioned above the green cloth and metal pot, with the peeler already grasped. The current subtask involves lowering the peeler behind the pot; the next action is to carefully descend the arm to place the peeler in the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, open gripper; then move left 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.2364816516637802, + -0.07730719447135925, + 0.046030279248952866, + -3.1247475147247314, + 0.031098350882530212, + 0.10885623842477798 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lower peeler behind pot", + "subtask_reasoning": "The robot arm is positioned above the green cloth and metal pot, with the peeler already grasped. The current subtask involves lowering the peeler behind the pot; the next action is to carefully descend the arm to place the peeler in the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, open gripper; then move left 4 cm, move up 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.23507817089557648, + -0.08347883820533752, + 0.036256153136491776, + -3.140385389328003, + 0.016374269500374794, + 0.1031409353017807 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "lower peeler behind pot", + "subtask_reasoning": "The robot arm is positioned above the green cloth and metal pot, with the peeler already grasped. The current subtask involves lowering the peeler behind the pot; the next action is to carefully descend the arm to place the peeler in the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 1 cm, keep gripper closed; then move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, open gripper; then move forward 1 cm, move left 6 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 26, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.23661494255065918, + -0.09033868461847305, + 0.021724412217736244, + 3.119231700897217, + 0.037160784006118774, + 0.1022486686706543 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release peeler", + "subtask_reasoning": "The robot arm is positioned above the green cloth and metal pot, with the peeler already grasped. The current subtask involves lowering the peeler behind the pot; the next action is to carefully descend the arm to place the peeler in the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 9 cm, tilt back 10 degrees, open gripper; then move forward 3 cm, move left 6 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.24017243087291718, + -0.09732858091592789, + 0.014224895276129246, + 3.0844671726226807, + 0.04444367066025734, + 0.07415744662284851 + ], + "gripper_value": 0.7121403217315674 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release peeler", + "subtask_reasoning": "The robot arm is positioned above the green cloth and metal pot, with the peeler already grasped. The current subtask involves lowering the peeler behind the pot; the next action is to carefully descend the arm to place the peeler in the target location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 7 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2430504858493805, + -0.09568880498409271, + 0.014005778357386589, + 3.0790224075317383, + 0.04355401173233986, + 0.07067159563302994 + ], + "gripper_value": 0.7855378985404968 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release peeler", + "subtask_reasoning": "The robot arm is positioned behind the metal pot with the peeler held in the gripper. The gripper is currently open, indicating the peeler has been released onto the surface. The subtask of releasing the peeler is complete, and the next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 7 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.24163493514060974, + -0.09166868776082993, + 0.015203017741441727, + 3.080435037612915, + 0.05978187173604965, + 0.051381051540374756 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release peeler", + "subtask_reasoning": "The robot arm is positioned behind the metal pot with the peeler held in the gripper. The gripper is currently open, indicating the peeler has been released onto the surface. The subtask of releasing the peeler is complete, and the next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 10 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 7 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.24326205253601074, + -0.08906377851963043, + 0.03298149257898331, + 3.0802013874053955, + 0.020414255559444427, + 0.037492599338293076 + ], + "gripper_value": 1.0054124593734741 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release peeler", + "subtask_reasoning": "The robot arm is positioned behind the metal pot with the peeler held in the gripper. The gripper is currently open, indicating the peeler has been released onto the surface. The subtask of releasing the peeler is complete, and the next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 7 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.24559810757637024, + -0.08611693233251572, + 0.05890113487839699, + 3.0885682106018066, + -0.036938488483428955, + 0.03091283328831196 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "release peeler", + "subtask_reasoning": "The robot arm is positioned behind the metal pot with the peeler held in the gripper. The gripper is currently open, indicating the peeler has been released onto the surface. The subtask of releasing the peeler is complete, and the next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 5 cm, tilt back 10 degrees, keep gripper open; then move forward 4 cm, move left 7 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 35 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 30, + "end": 35 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.24485495686531067, + -0.07920147478580475, + 0.11337548494338989, + 3.111778736114502, + -0.14502152800559998, + 0.045843373984098434 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal bowl": [ + 156, + 254, + 365, + 464 + ], + "wooden countertop": [ + 37, + 165, + 900, + 948 + ], + "red cup": [ + 613, + 677, + 728, + 836 + ], + "green napkin": [ + 504, + 472, + 726, + 677 + ], + "fork": [ + 543, + 480, + 646, + 679 + ] + } + } + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned behind the metal pot with the peeler held in the gripper. The gripper is currently open, indicating the peeler has been released onto the surface. The subtask of releasing the peeler is complete, and the next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move up 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.24445375800132751, + -0.060828737914562225, + 0.14969287812709808, + 3.1091361045837402, + -0.1617368757724762, + 0.10236998647451401 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned behind the metal pot with the peeler held in the gripper. The gripper is currently open, indicating the peeler has been released onto the surface. The subtask of releasing the peeler is complete, and the next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.24770666658878326, + -0.0383051335811615, + 0.16824226081371307, + 3.095179796218872, + -0.17200425267219543, + 0.1478249579668045 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is positioned behind the metal pot with the peeler held in the gripper. The gripper is currently open, indicating the peeler has been released onto the surface. The subtask of releasing the peeler is complete, and the next step is to retreat the arm to a safe position." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 32 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.2550213038921356, + -0.02390522137284279, + 0.18197591602802277, + 3.087907552719116, + -0.17679919302463531, + 0.13206349313259125 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is currently positioned above the workspace with the gripper fully open, indicating the peeler has been released. The subtask involves retreating to a safe home position, and the arm appears to be moving away from the objects on the table. The next action is to continue retracting the arm to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.27156251668930054, + -0.016670284792780876, + 0.18208159506320953, + 3.0916502475738525, + -0.16303062438964844, + 0.11158908158540726 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is currently positioned above the workspace with the gripper fully open, indicating the peeler has been released. The subtask involves retreating to a safe home position, and the arm appears to be moving away from the objects on the table. The next action is to continue retracting the arm to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.28471484780311584, + -0.013022102415561676, + 0.1799750179052353, + 3.0934817790985107, + -0.1510021984577179, + 0.07454409450292587 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is currently positioned above the workspace with the gripper fully open, indicating the peeler has been released. The subtask involves retreating to a safe home position, and the arm appears to be moving away from the objects on the table. The next action is to continue retracting the arm to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.28972333669662476, + -0.007483497727662325, + 0.18130671977996826, + 3.0975542068481445, + -0.14369609951972961, + 0.013926543295383453 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is currently positioned above the workspace with the gripper fully open, indicating the peeler has been released. The subtask involves retreating to a safe home position, and the arm appears to be moving away from the objects on the table. The next action is to continue retracting the arm to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.2888927161693573, + -0.007724324706941843, + 0.18165720999240875, + 3.09713077545166, + -0.14095160365104675, + 0.006364923436194658 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the green cloth behind the pot with the peeler." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and grasp peeler" + }, + { + "id": 2, + "subtask": "lift and reposition peeler" + }, + { + "id": 3, + "subtask": "lower peeler behind pot" + }, + { + "id": 4, + "subtask": "release peeler" + }, + { + "id": 5, + "subtask": "retreat to home position" + } + ], + "subtask_name": "retreat to home position", + "subtask_reasoning": "The robot arm is currently positioned above the workspace with the gripper fully open, indicating the peeler has been released. The subtask involves retreating to a safe home position, and the arm appears to be moving away from the objects on the table. The next action is to continue retracting the arm to the designated home coordinates." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 43 + }, + "cache_ref": { + "anchor_ref_reasoning": 39 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 36, + "end": 43 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001031_ecot.json b/cot/chunk-0001/episode_0001031_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5927de4f169eb022859d94c35358474831325943 --- /dev/null +++ b/cot/chunk-0001/episode_0001031_ecot.json @@ -0,0 +1,1316 @@ +{ + "task_name": "episode_0001031", + "episode_json": "json/chunk-0001/episode_0001031.json", + "video_path": "videos/chunk-0001/image_0/episode_0001031.mp4", + "instruction": "Put cap on container.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001031.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.16874998807907104, + "std": 0.06831713765859604, + "delta_total": -0.13625085353851318, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.16875, std=0.06832, total_delta=-0.13625). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cap\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the red cap on the stove while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"grasp cap\", \"start\": 6, \"end\": 12, \"planning\": \"Close gripper around the red cap and secure hold as confirmed by gripper closure and image alignment.\"},\n {\"id\": 3, \"name\": \"lift and reposition cap\", \"start\": 13, \"end\": 16, \"planning\": \"Lift the grasped cap and move it horizontally toward the container opening without further gripper motion.\"},\n {\"id\": 4, \"name\": \"place cap on container\", \"start\": 17, \"end\": 19, \"planning\": \"Lower the cap onto the container mouth and release contact; gripper remains static indicating no active placement force.\"}\n ],\n \"global_plan\": \"Approach the red cap, grasp it securely, lift and reposition over the container, then lower and release to complete capping.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.138) consistent with grasping; Segment 2 has zero gripper change, so actions are described as repositioning and releasing without active grasp/place verbs beyond initial hold.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cap", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the red cap on the stove while keeping gripper open." + }, + { + "id": 2, + "name": "grasp cap", + "start": 6, + "end": 12, + "planning": "Close gripper around the red cap and secure hold as confirmed by gripper closure and image alignment." + }, + { + "id": 3, + "name": "lift and reposition cap", + "start": 13, + "end": 16, + "planning": "Lift the grasped cap and move it horizontally toward the container opening without further gripper motion." + }, + { + "id": 4, + "name": "place cap on container", + "start": 17, + "end": 19, + "planning": "Lower the cap onto the container mouth and release contact; gripper remains static indicating no active placement force." + } + ], + "global_plan": "Approach the red cap, grasp it securely, lift and reposition over the container, then lower and release to complete capping.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.138) consistent with grasping; Segment 2 has zero gripper change, so actions are described as repositioning and releasing without active grasp/place verbs beyond initial hold." + } + }, + "episode_goal": "Place the red cap onto the clear container with the red label.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3176848590373993, + 0.0258086696267128, + 0.08776096999645233, + 2.9926304817199707, + 0.0714859738945961, + 0.25385984778404236 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter, with the red cap visible on the right side near the stove. No grasping has occurred yet as the gripper remains open and no meaningful closing evidence exists in this segment. The next action should be to move the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.31052371859550476, + 0.020441371947526932, + 0.07589038461446762, + 2.9862258434295654, + 0.1198970377445221, + 0.25083476305007935 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter, with the red cap visible on the right side near the stove. No grasping has occurred yet as the gripper remains open and no meaningful closing evidence exists in this segment. The next action should be to move the arm closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 5 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.29797568917274475, + 0.008164006285369396, + 0.06760893762111664, + 2.9637434482574463, + 0.17580895125865936, + 0.23074845969676971 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 238, + 379, + 349, + 616 + ], + "gas stove": [ + 432, + 247, + 995, + 967 + ], + "red cup": [ + 444, + 487, + 557, + 631 + ], + "orange lid": [ + 74, + 367, + 221, + 487 + ], + "tomato": [ + 585, + 297, + 685, + 425 + ], + "pumpkin": [ + 527, + 151, + 644, + 293 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible on the right. No grasping has occurred yet as the gripper remains open and stationary relative to the cap. The next action should involve moving the end-effector closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move down 1 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2911365330219269, + -0.006153754889965057, + 0.06340768188238144, + 2.939473867416382, + 0.19552887976169586, + 0.16178035736083984 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible on the right. No grasping has occurred yet as the gripper remains open and stationary relative to the cap. The next action should involve moving the end-effector closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2891312837600708, + -0.019399629905819893, + 0.059486158192157745, + 2.924104690551758, + 0.1685297042131424, + 0.11915650963783264 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible on the right. No grasping has occurred yet as the gripper remains open and stationary relative to the cap. The next action should involve moving the end-effector closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, keep gripper open; then move back 2 cm, move left 4 cm, move up 3 cm, close gripper; then move back 1 cm, move left 4 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29215705394744873, + -0.026149699464440346, + 0.052583079785108566, + 2.9327454566955566, + 0.12480009347200394, + 0.10103420913219452 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "approach cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible on the right. No grasping has occurred yet as the gripper remains open and stationary relative to the cap. The next action should involve moving the end-effector closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move left 4 cm, move up 3 cm, close gripper; then move back 1 cm, move left 6 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29588642716407776, + -0.02744624949991703, + 0.04426167905330658, + 2.948974132537842, + 0.06612858176231384, + 0.0915549173951149 + ], + "gripper_value": 1.0041072368621826 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible on the right. No grasping has occurred yet as the gripper remains open and stationary relative to the cap. The next action should involve moving the end-effector closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 3 cm, close gripper; then move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.29661646485328674, + -0.028011217713356018, + 0.042921777814626694, + 2.9528286457061768, + 0.0516204796731472, + 0.08458998799324036 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible on the right. No grasping has occurred yet as the gripper remains open and stationary relative to the cap. The next action should involve moving the end-effector closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 3 cm, close gripper; then move forward 1 cm, move left 9 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2897712290287018, + -0.03227488324046135, + 0.036362286657094955, + 2.953685998916626, + 0.0742286890745163, + 0.07888032495975494 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned above the counter with the red cap visible on the right. No grasping has occurred yet as the gripper remains open and stationary relative to the cap. The next action should involve moving the end-effector closer to the red cap to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 4 cm, move up 4 cm, close gripper; then move forward 1 cm, move left 9 cm, move down 2 cm, keep gripper closed; then move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.28232330083847046, + -0.0388914979994297, + 0.027683109045028687, + 2.9602930545806885, + 0.10333553701639175, + 0.08144209533929825 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned directly above the red cap on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 5 cm, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27596816420555115, + -0.03866230696439743, + 0.019971322268247604, + 2.967613697052002, + 0.10406176745891571, + 0.09686115384101868 + ], + "gripper_value": 0.927155077457428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned directly above the red cap on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, move up 6 cm, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28272080421447754, + -0.03685315325856209, + 0.019130464643239975, + 2.9795470237731934, + 0.06400494277477264, + 0.12565702199935913 + ], + "gripper_value": 0.8353572487831116 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned directly above the red cap on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 5 cm, move up 6 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.28132641315460205, + -0.02724423073232174, + 0.034559234976768494, + 2.994771718978882, + 0.08783099800348282, + 0.1084865853190422 + ], + "gripper_value": 0.8660832643508911 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "grasp cap", + "subtask_reasoning": "The robot arm is positioned directly above the red cap on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 4 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 9 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2718661427497864, + 0.009104231372475624, + 0.07746697962284088, + 3.01546573638916, + 0.07848848402500153, + 0.018333157524466515 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The robot arm is positioned directly above the red cap on the counter, with the gripper open and aligned for grasping. The approach phase is complete, and the current state indicates readiness to close the gripper. The next action is to close the gripper to securely grasp the red cap." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25985631346702576, + 0.04680173099040985, + 0.09815894067287445, + 3.0023210048675537, + 0.08474374562501907, + -0.04382801055908203 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "bottle": [ + 238, + 381, + 351, + 624 + ], + "gas stove": [ + 435, + 250, + 995, + 967 + ], + "tomato": [ + 586, + 297, + 685, + 424 + ], + "orange lid": [ + 74, + 367, + 220, + 486 + ] + } + } + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The red cap is currently grasped and lifted above the clear container, positioned for placement. The gripper remains closed with minimal motion, indicating stable holding during repositioning. The next action should be to lower the cap onto the container opening." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26123616099357605, + 0.07319359481334686, + 0.09823013097047806, + 3.0324604511260986, + 0.06790757179260254, + -0.03785640373826027 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The red cap is currently grasped and lifted above the clear container, positioned for placement. The gripper remains closed with minimal motion, indicating stable holding during repositioning. The next action should be to lower the cap onto the container opening." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 3 cm, move down 4 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2744207978248596, + 0.08941018581390381, + 0.07478351145982742, + 3.0584356784820557, + 0.06464647501707077, + -0.016424288973212242 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "lift and reposition cap", + "subtask_reasoning": "The red cap is currently grasped and lifted above the clear container, positioned for placement. The gripper remains closed with minimal motion, indicating stable holding during repositioning. The next action should be to lower the cap onto the container opening." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, keep gripper closed; then move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 16 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 16 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.28208810091018677, + 0.09844871610403061, + 0.0542098693549633, + 3.0807852745056152, + 0.05367565527558327, + -0.00609475327655673 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently grasped and lifted above the clear container, positioned for placement. The gripper remains closed with minimal motion, indicating stable holding during repositioning. The next action should be to lower the cap onto the container opening." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2854670584201813, + 0.09984633326530457, + 0.033015333116054535, + 3.0731539726257324, + 0.07907472550868988, + 0.003981602378189564 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently held above the clear container, aligned for placement. The gripper remains open and stable with no closing motion, indicating the cap is not yet released. The next action is to lower the cap onto the container and release it to complete the capping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.29023048281669617, + 0.10047228634357452, + 0.02678639627993107, + 3.06864595413208, + 0.06427575647830963, + 0.010591709055006504 + ], + "gripper_value": 0.8678563833236694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the red cap onto the clear container with the red label." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cap" + }, + { + "id": 2, + "subtask": "grasp cap" + }, + { + "id": 3, + "subtask": "lift and reposition cap" + }, + { + "id": 4, + "subtask": "place cap on container" + } + ], + "subtask_name": "place cap on container", + "subtask_reasoning": "The red cap is currently held above the clear container, aligned for placement. The gripper remains open and stable with no closing motion, indicating the cap is not yet released. The next action is to lower the cap onto the container and release it to complete the capping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 17, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001032_ecot.json b/cot/chunk-0001/episode_0001032_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..5aca437b5450ca9a58dd1572e9170b07e94145c6 --- /dev/null +++ b/cot/chunk-0001/episode_0001032_ecot.json @@ -0,0 +1,2488 @@ +{ + "task_name": "episode_0001032", + "episode_json": "json/chunk-0001/episode_0001032.json", + "video_path": "videos/chunk-0001/image_0/episode_0001032.mp4", + "instruction": "Put clothes in laundry machine.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 34, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001032.json" + }, + "fps": 5.0, + "T_eff": 34, + "gripper_behavior_summary": { + "available": true, + "range": 0.7615547180175781, + "std": 0.3408781588077545, + "delta_total": -0.0026993155479431152, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.76155, std=0.34088, total_delta=-0.00270). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 200, + 200, + 0, + 0, + 0, + 0, + 200, + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 314, + 314, + 314, + 314, + 14, + 14, + 14, + 14, + 14, + 114, + 14, + 14, + 114, + 114, + 128, + 128, + 28, + 28, + 28, + 28 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 5 + ], + [ + 3, + 6, + 6 + ], + [ + 4, + 7, + 12 + ], + [ + 5, + 13, + 13 + ], + [ + 6, + 14, + 17 + ], + [ + 7, + 18, + 22 + ], + [ + 8, + 23, + 23 + ], + [ + 9, + 24, + 25 + ], + [ + 10, + 26, + 27 + ], + [ + 11, + 28, + 29 + ], + [ + 12, + 30, + 33 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach laundry basket\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the laundry basket containing clothes, preparing for interaction.\"},\n {\"id\": 2, \"name\": \"make contact with clothes\", \"start\": 6, \"end\": 12, \"planning\": \"Lower and position gripper to make physical contact with clothes inside the basket.\"},\n {\"id\": 3, \"name\": \"reposition clothes in basket\", \"start\": 13, \"end\": 17, \"planning\": \"Adjust grip and nudge clothes within the basket to align for extraction without lifting.\"},\n {\"id\": 4, \"name\": \"extract clothes from basket\", \"start\": 18, \"end\": 22, \"planning\": \"Drag or slide clothes out of the basket toward the washing machine opening using sustained contact.\"},\n {\"id\": 5, \"name\": \"insert clothes into machine\", \"start\": 23, \"end\": 29, \"planning\": \"Push clothes through the washing machine door opening while maintaining forward motion and contact.\"},\n {\"id\": 6, \"name\": \"retreat from machine\", \"start\": 30, \"end\": 33, \"planning\": \"Withdraw end-effector away from the washing machine after successful insertion, completing the task.\"}\n ],\n \"global_plan\": \"The robot approaches the laundry basket, makes contact with clothes, repositions them for extraction, drags them out, inserts them into the washing machine, and retreats — all without explicit grasping, relying on contact-based manipulation as supported by gripper evidence.\",\n \"notes\": \"No segment shows meaningful gripper closing; therefore, no grasp/pick/place terms are used. All actions are described via contact, push, drag, slide, or retreat based on observed motion and gripper state.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach laundry basket", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the laundry basket containing clothes, preparing for interaction." + }, + { + "id": 2, + "name": "make contact with clothes", + "start": 6, + "end": 12, + "planning": "Lower and position gripper to make physical contact with clothes inside the basket." + }, + { + "id": 3, + "name": "reposition clothes in basket", + "start": 13, + "end": 17, + "planning": "Adjust grip and nudge clothes within the basket to align for extraction without lifting." + }, + { + "id": 4, + "name": "extract clothes from basket", + "start": 18, + "end": 22, + "planning": "Drag or slide clothes out of the basket toward the washing machine opening using sustained contact." + }, + { + "id": 5, + "name": "insert clothes into machine", + "start": 23, + "end": 29, + "planning": "Push clothes through the washing machine door opening while maintaining forward motion and contact." + }, + { + "id": 6, + "name": "retreat from machine", + "start": 30, + "end": 33, + "planning": "Withdraw end-effector away from the washing machine after successful insertion, completing the task." + } + ], + "global_plan": "The robot approaches the laundry basket, makes contact with clothes, repositions them for extraction, drags them out, inserts them into the washing machine, and retreats — all without explicit grasping, relying on contact-based manipulation as supported by gripper evidence.", + "notes": "No segment shows meaningful gripper closing; therefore, no grasp/pick/place terms are used. All actions are described via contact, push, drag, slide, or retreat based on observed motion and gripper state." + } + }, + "episode_goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.25793612003326416, + 0.0785181000828743, + -0.010335459373891354, + -3.1180901527404785, + -0.16355548799037933, + -0.13027866184711456 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing clothes, with the washing machine door open in the background. No actions have been completed yet as this is the initial approach phase. The gripper is open and no contact has been made. The next action is to move the end-effector closer to the clothes pile to prepare for contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 4 cm, keep gripper open; then move back 2 cm, move left 3 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2525146007537842, + 0.07559605687856674, + -0.015647510066628456, + -3.135258436203003, + -0.1435682475566864, + -0.12869349122047424 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot is positioned near the laundry basket containing clothes, with the washing machine door open in the background. No actions have been completed yet as this is the initial approach phase. The gripper is open and no contact has been made. The next action is to move the end-effector closer to the clothes pile to prepare for contact-based manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 5 cm, keep gripper open; then move back 1 cm, move left 3 cm, move down 8 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.24810537695884705, + 0.06685903668403625, + 0.0007971330196596682, + 3.124072313308716, + -0.21735741198062897, + -0.1584227830171585 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot arm is positioned above the laundry basket containing colorful clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating readiness for contact-based manipulation. The next action should involve moving the arm closer to establish contact with the clothes pile for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 3 cm, keep gripper open; then move left 2 cm, move down 9 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24622678756713867, + 0.06417402625083923, + 0.015155691653490067, + 3.0906338691711426, + -0.2546961307525635, + -0.14734438061714172 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot arm is positioned above the laundry basket containing colorful clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating readiness for contact-based manipulation. The next action should involve moving the arm closer to establish contact with the clothes pile for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 2 cm, keep gripper open; then move left 2 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.23810802400112152, + 0.0656542107462883, + 0.03823486715555191, + 3.0513737201690674, + -0.30571508407592773, + -0.14551764726638794 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot arm is positioned above the laundry basket containing colorful clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating readiness for contact-based manipulation. The next action should involve moving the arm closer to establish contact with the clothes pile for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, tilt left 10 degrees, tilt forward 10 degrees, keep gripper open; then move left 2 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.2166411131620407, + 0.07666190713644028, + 0.044669266790151596, + 3.098612070083618, + -0.243252694606781, + -0.11969766765832901 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "approach laundry basket", + "subtask_reasoning": "The robot arm is positioned above the laundry basket containing colorful clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating readiness for contact-based manipulation. The next action should involve moving the arm closer to establish contact with the clothes pile for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, keep gripper open; then move left 2 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.19886134564876556, + 0.09352937340736389, + 0.03442145511507988, + -3.138922929763794, + -0.1962321549654007, + -0.10108320415019989 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "make contact with clothes", + "subtask_reasoning": "The robot arm is positioned above the laundry basket containing colorful clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating readiness for contact-based manipulation. The next action should involve moving the arm closer to establish contact with the clothes pile for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 10 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.18564219772815704, + 0.10992709547281265, + 0.02323290705680847, + 3.12099027633667, + -0.1493874192237854, + -0.008938993327319622 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 63, + 499, + 451, + 913 + ], + "blue shorts": [ + 448, + 746, + 711, + 996 + ], + "colorful clothes": [ + 73, + 548, + 375, + 869 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "make contact with clothes", + "subtask_reasoning": "The robot arm is positioned above the laundry basket containing colorful clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating readiness for contact-based manipulation. The next action should involve moving the arm closer to establish contact with the clothes pile for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 9 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move up 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.18383368849754333, + 0.12405207753181458, + 0.010789762251079082, + 3.1059505939483643, + -0.09974660724401474, + 0.01765788532793522 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 65, + 503, + 452, + 913 + ], + "blue shorts": [ + 448, + 746, + 711, + 996 + ], + "colorful clothes": [ + 74, + 561, + 377, + 864 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "make contact with clothes", + "subtask_reasoning": "The robot arm is positioned above the laundry basket containing colorful clothes, with the washing machine door open nearby. No actions have been completed yet as this is the initial approach phase. The gripper remains open with no closing evidence, indicating readiness for contact-based manipulation. The next action should involve moving the arm closer to establish contact with the clothes pile for extraction." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 7 cm, rotate clockwise 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.18009455502033234, + 0.12226220965385437, + -0.009704986587166786, + 3.0210680961608887, + -0.08276768028736115, + 0.061111897230148315 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "make contact with clothes", + "subtask_reasoning": "The robot has approached the laundry basket and is now positioned above the pile of clothes. The gripper is open and hovering near the clothes, indicating readiness to make contact. The next action is to lower the end-effector slightly to establish physical contact with the clothes for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 5 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move right 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.18088075518608093, + 0.12127780169248581, + -0.024744633585214615, + 2.987375020980835, + -0.0818825364112854, + 0.10672822594642639 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "make contact with clothes", + "subtask_reasoning": "The robot has approached the laundry basket and is now positioned above the pile of clothes. The gripper is open and hovering near the clothes, indicating readiness to make contact. The next action is to lower the end-effector slightly to establish physical contact with the clothes for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 4 cm, tilt left 10 degrees, close gripper; then move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.18804989755153656, + 0.11853846907615662, + -0.04154450446367264, + 3.0208334922790527, + -0.10148512572050095, + 0.12430264055728912 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "make contact with clothes", + "subtask_reasoning": "The robot has approached the laundry basket and is now positioned above the pile of clothes. The gripper is open and hovering near the clothes, indicating readiness to make contact. The next action is to lower the end-effector slightly to establish physical contact with the clothes for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move forward 3 cm, move right 5 cm, move up 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.19423016905784607, + 0.11680786311626434, + -0.05463070794939995, + 3.0757222175598145, + -0.10217060893774033, + 0.13775241374969482 + ], + "gripper_value": 0.9430103898048401 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "make contact with clothes", + "subtask_reasoning": "The robot has approached the laundry basket and is now positioned above the pile of clothes. The gripper is open and hovering near the clothes, indicating readiness to make contact. The next action is to lower the end-effector slightly to establish physical contact with the clothes for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move forward 5 cm, move right 7 cm, move up 4 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19709186255931854, + 0.11563389748334885, + -0.06352970749139786, + -3.138413190841675, + -0.0843585729598999, + 0.13553303480148315 + ], + "gripper_value": 0.6961957812309265 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "reposition clothes in basket", + "subtask_reasoning": "The robot has approached the laundry basket and is now positioned above the pile of clothes. The gripper is open and hovering near the clothes, indicating readiness to make contact. The next action is to lower the end-effector slightly to establish physical contact with the clothes for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move forward 6 cm, move right 8 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1991235613822937, + 0.11542055010795593, + -0.0626738891005516, + -3.1006712913513184, + -0.1011924222111702, + 0.09206109493970871 + ], + "gripper_value": 0.49949145317077637 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "reposition clothes in basket", + "subtask_reasoning": "The robot has approached the laundry basket and is now positioned above the pile of clothes. The gripper is open and hovering near the clothes, indicating readiness to make contact. The next action is to lower the end-effector slightly to establish physical contact with the clothes for subsequent manipulation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 9 cm, keep gripper closed; then move forward 6 cm, move right 8 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.20377616584300995, + 0.11801381409168243, + -0.04753778129816055, + -3.073495626449585, + -0.1342737376689911, + 0.08387768268585205 + ], + "gripper_value": 0.34125998616218567 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "reposition clothes in basket", + "subtask_reasoning": "The robot's end-effector is in contact with the clothes inside the white laundry basket, having completed the approach and initial contact phases. The gripper has closed significantly during this segment, indicating a firm hold or compression of the fabric pile to prepare for extraction. The next action involves dragging or lifting the repositioned clothes out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 7 cm, keep gripper closed; then move forward 6 cm, move right 8 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.20553024113178253, + 0.11930901557207108, + -0.028256317600607872, + -3.0743443965911865, + -0.154991015791893, + 0.0886644721031189 + ], + "gripper_value": 0.25065502524375916 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "reposition clothes in basket", + "subtask_reasoning": "The robot's end-effector is in contact with the clothes inside the white laundry basket, having completed the approach and initial contact phases. The gripper has closed significantly during this segment, indicating a firm hold or compression of the fabric pile to prepare for extraction. The next action involves dragging or lifting the repositioned clothes out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 6 cm, keep gripper closed; then move forward 6 cm, move right 8 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.20606158673763275, + 0.11596551537513733, + -0.0067312647588551044, + -3.0958425998687744, + -0.15189841389656067, + 0.09088758379220963 + ], + "gripper_value": 0.2352597415447235 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "reposition clothes in basket", + "subtask_reasoning": "The robot's end-effector is in contact with the clothes inside the white laundry basket, having completed the approach and initial contact phases. The gripper has closed significantly during this segment, indicating a firm hold or compression of the fabric pile to prepare for extraction. The next action involves dragging or lifting the repositioned clothes out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 6 cm, move right 8 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move down 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.20894138514995575, + 0.1073753759264946, + 0.027271902188658714, + 3.1414194107055664, + -0.1646120548248291, + 0.0991765484213829 + ], + "gripper_value": 0.2589220404624939 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "extract clothes from basket", + "subtask_reasoning": "The robot's end-effector is in contact with the clothes inside the white laundry basket, having completed the approach and initial contact phases. The gripper has closed significantly during this segment, indicating a firm hold or compression of the fabric pile to prepare for extraction. The next action involves dragging or lifting the repositioned clothes out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 8 cm, move up 3 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 8 cm, move down 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.20992794632911682, + 0.0904759019613266, + 0.04742567986249924, + 3.1160669326782227, + -0.17999695241451263, + 0.07738395035266876 + ], + "gripper_value": 0.2617134153842926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "extract clothes from basket", + "subtask_reasoning": "The robot's end-effector is in contact with the clothes inside the white laundry basket, having completed the approach and initial contact phases. The gripper has closed significantly during this segment, indicating a firm hold or compression of the fabric pile to prepare for extraction. The next action involves dragging or lifting the repositioned clothes out of the basket." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move up 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 7 cm, move down 1 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.21957792341709137, + 0.06693104654550552, + 0.06511060148477554, + 3.0943307876586914, + -0.26416468620300293, + 0.007338009774684906 + ], + "gripper_value": 0.2617134153842926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "extract clothes from basket", + "subtask_reasoning": "The robot is in contact with the pile of clothes inside the white basket, having already approached and initiated extraction. The gripper remains open with minimal closure, indicating no grasp—only pushing or dragging motion. The next action should continue extracting the clothes by applying controlled contact force to move them out of the basket toward the washing machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 6 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2347688525915146, + 0.052702076733112335, + 0.06794961541891098, + 3.104935646057129, + -0.34542912244796753, + -0.04997187852859497 + ], + "gripper_value": 0.2610139548778534 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 94, + 466, + 445, + 886 + ], + "blue shorts": [ + 447, + 746, + 712, + 996 + ], + "colorful clothes": [ + 232, + 323, + 503, + 720 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "extract clothes from basket", + "subtask_reasoning": "The robot is in contact with the pile of clothes inside the white basket, having already approached and initiated extraction. The gripper remains open with minimal closure, indicating no grasp—only pushing or dragging motion. The next action should continue extracting the clothes by applying controlled contact force to move them out of the basket toward the washing machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper closed; then move forward 6 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.255118191242218, + 0.04165809601545334, + 0.06558755785226822, + 3.137113571166992, + -0.4267950654029846, + -0.0642276331782341 + ], + "gripper_value": 0.2617134153842926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "extract clothes from basket", + "subtask_reasoning": "The robot is in contact with the pile of clothes inside the white basket, having already approached and initiated extraction. The gripper remains open with minimal closure, indicating no grasp—only pushing or dragging motion. The next action should continue extracting the clothes by applying controlled contact force to move them out of the basket toward the washing machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, keep gripper closed; then move forward 6 cm, tilt back 10 degrees, open gripper; then move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.271270751953125, + 0.030177557840943336, + 0.06059771403670311, + -3.1355061531066895, + -0.47463664412498474, + -0.07761674374341965 + ], + "gripper_value": 0.2617134153842926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot is in contact with the pile of clothes inside the white basket, having already approached and initiated extraction. The gripper remains open with minimal closure, indicating no grasp—only pushing or dragging motion. The next action should continue extracting the clothes by applying controlled contact force to move them out of the basket toward the washing machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, tilt back 10 degrees, open gripper; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.2944810390472412, + 0.025172322988510132, + 0.06477563828229904, + 3.139556884765625, + -0.5111523866653442, + -0.05134528502821922 + ], + "gripper_value": 0.2610139548778534 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot is in contact with the pile of clothes inside the white basket, having already approached and initiated extraction. The gripper remains open with minimal closure, indicating no grasp—only pushing or dragging motion. The next action should continue extracting the clothes by applying controlled contact force to move them out of the basket toward the washing machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move down 1 cm, open gripper; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3102830648422241, + 0.024699384346604347, + 0.06190481781959534, + 3.140199899673462, + -0.523827314376831, + -0.03144330903887749 + ], + "gripper_value": 0.2617134153842926 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot is in contact with the pile of clothes inside the white basket, having already approached and initiated extraction. The gripper remains open with minimal closure, indicating no grasp—only pushing or dragging motion. The next action should continue extracting the clothes by applying controlled contact force to move them out of the basket toward the washing machine." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, open gripper; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 20 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3291688859462738, + 0.024565894156694412, + 0.0637335404753685, + -3.1390371322631836, + -0.5431510806083679, + -0.01631646417081356 + ], + "gripper_value": 0.2610139548778534 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white basket": [ + 95, + 459, + 453, + 887 + ], + "blue shorts": [ + 448, + 747, + 711, + 996 + ], + "washing machine": [ + 6, + 6, + 993, + 783 + ], + "colorful clothes": [ + 402, + 230, + 649, + 532 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening with clothes partially inserted inside. The gripper has closed significantly during this segment, indicating the clothes are being held or pushed into the drum. The next action is to fully release the clothes inside the machine and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 23, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3408699035644531, + 0.027465760707855225, + 0.055064380168914795, + -3.099285840988159, + -0.5656690001487732, + -0.04277811571955681 + ], + "gripper_value": 0.32045841217041016 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening with clothes partially inserted inside. The gripper has closed significantly during this segment, indicating the clothes are being held or pushed into the drum. The next action is to fully release the clothes inside the machine and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.347407728433609, + 0.02840915322303772, + 0.05140094831585884, + -3.1036317348480225, + -0.5730727314949036, + -0.03890788182616234 + ], + "gripper_value": 0.5978984832763672 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening with clothes partially inserted inside. The gripper has closed significantly during this segment, indicating the clothes are being held or pushed into the drum. The next action is to fully release the clothes inside the machine and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.34611696004867554, + 0.03069993108510971, + 0.0512663871049881, + -3.1340396404266357, + -0.5828588008880615, + -0.02775304950773716 + ], + "gripper_value": 0.8740299344062805 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "insert clothes into machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening with clothes partially inserted inside. The gripper has closed significantly during this segment, indicating the clothes are being held or pushed into the drum. The next action is to fully release the clothes inside the machine and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 23, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.332160085439682, + 0.026184871792793274, + 0.05772500857710838, + 3.11547589302063, + -0.5780410766601562, + -0.039754465222358704 + ], + "gripper_value": 0.9947922229766846 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "retreat from machine", + "subtask_reasoning": "The robot's end-effector is positioned at the washing machine opening with clothes partially inserted inside. The gripper has closed significantly during this segment, indicating the clothes are being held or pushed into the drum. The next action is to fully release the clothes inside the machine and retract the arm." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 4 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 26 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.32552358508110046, + 0.022450149059295654, + 0.0714196190237999, + 3.0923662185668945, + -0.5755686163902283, + -0.04426813870668411 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "retreat from machine", + "subtask_reasoning": "The robot's end-effector is positioned near the washing machine opening with clothes already inside, and the gripper is open. The retreat subtask involves moving the arm away from the machine to complete the insertion process. The next action is to retract the arm backward and upward to clear the machine entrance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.3175695836544037, + 0.01623830571770668, + 0.08332790434360504, + 3.0652384757995605, + -0.5536704063415527, + -0.02964554727077484 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "retreat from machine", + "subtask_reasoning": "The robot's end-effector is positioned near the washing machine opening with clothes already inside, and the gripper is open. The retreat subtask involves moving the arm away from the machine to complete the insertion process. The next action is to retract the arm backward and upward to clear the machine entrance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.3130452036857605, + 0.006248125806450844, + 0.09729991108179092, + 3.0322062969207764, + -0.5172767639160156, + -0.02352103590965271 + ], + "gripper_value": 0.9941151142120361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the pile of clothes from the white basket and place them inside the washing machine." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach laundry basket" + }, + { + "id": 2, + "subtask": "make contact with clothes" + }, + { + "id": 3, + "subtask": "reposition clothes in basket" + }, + { + "id": 4, + "subtask": "extract clothes from basket" + }, + { + "id": 5, + "subtask": "insert clothes into machine" + }, + { + "id": 6, + "subtask": "retreat from machine" + } + ], + "subtask_name": "retreat from machine", + "subtask_reasoning": "The robot's end-effector is positioned near the washing machine opening with clothes already inside, and the gripper is open. The retreat subtask involves moving the arm away from the machine to complete the insertion process. The next action is to retract the arm backward and upward to clear the machine entrance." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 31 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 30, + "end": 33 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001034_ecot.json b/cot/chunk-0001/episode_0001034_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b5fc953e13757b168b4a09104d5a4305ef1e57a1 --- /dev/null +++ b/cot/chunk-0001/episode_0001034_ecot.json @@ -0,0 +1,2458 @@ +{ + "task_name": "episode_0001034", + "episode_json": "json/chunk-0001/episode_0001034.json", + "video_path": "videos/chunk-0001/image_0/episode_0001034.mp4", + "instruction": "Unfold the cloth from left to righ.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 38, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001034.json" + }, + "fps": 5.0, + "T_eff": 38, + "gripper_behavior_summary": { + "available": true, + "range": 0.9503797888755798, + "std": 0.44327399134635925, + "delta_total": -0.2537490129470825, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95038, std=0.44327, total_delta=-0.25375). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 100, + 100, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 119, + 37 + ], + "seg_spans": [ + [ + 1, + 0, + 1 + ], + [ + 2, + 2, + 3 + ], + [ + 3, + 4, + 6 + ], + [ + 4, + 7, + 18 + ], + [ + 5, + 19, + 36 + ], + [ + 6, + 37, + 37 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth from above\", \"start\": 0, \"end\": 6, \"planning\": \"Move end-effector toward the left edge of the folded green cloth without grasping, as gripper remains fully open and no closing is observed.\"},\n {\"id\": 2, \"name\": \"make contact and begin grip\", \"start\": 7, \"end\": 18, \"planning\": \"Gripper closes meaningfully (delta=-0.32230) while maintaining contact with cloth edge; images confirm grasp initiation at frame 18 with partial closure and cloth engagement.\"},\n {\"id\": 3, \"name\": \"drag cloth rightward\", \"start\": 19, \"end\": 36, \"planning\": \"Pull the cloth horizontally to the right while maintaining grip, unfolding it across the table surface based on continuous motion and sustained gripper closure.\"},\n {\"id\": 4, \"name\": \"release and retreat\", \"start\": 37, \"end\": 37, \"planning\": \"Open gripper slightly (delta=+0.30551 in local window) and lift away from cloth after full unfolding, as shown in final frame with cloth flat and gripper retracting.\"}\n ],\n \"global_plan\": \"Unfold the green cloth by approaching its left edge, gripping it securely, dragging it rightward to flatten, then releasing and retreating once fully unfolded.\",\n \"notes\": \"Segment 2 (frames 2-3) was merged into Subtask 1 since it shows no gripper action and continues approach motion. Segment 5 (frames 19-36) is treated as one continuous drag phase despite lacking explicit keyframes, inferred from trajectory continuity and gripper state persistence. Final frame 37 shows release via gripper opening and spatial retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth from above", + "start": 0, + "end": 6, + "planning": "Move end-effector toward the left edge of the folded green cloth without grasping, as gripper remains fully open and no closing is observed." + }, + { + "id": 2, + "name": "make contact and begin grip", + "start": 7, + "end": 18, + "planning": "Gripper closes meaningfully (delta=-0.32230) while maintaining contact with cloth edge; images confirm grasp initiation at frame 18 with partial closure and cloth engagement." + }, + { + "id": 3, + "name": "drag cloth rightward", + "start": 19, + "end": 36, + "planning": "Pull the cloth horizontally to the right while maintaining grip, unfolding it across the table surface based on continuous motion and sustained gripper closure." + }, + { + "id": 4, + "name": "release and retreat", + "start": 37, + "end": 37, + "planning": "Open gripper slightly (delta=+0.30551 in local window) and lift away from cloth after full unfolding, as shown in final frame with cloth flat and gripper retracting." + } + ], + "global_plan": "Unfold the green cloth by approaching its left edge, gripping it securely, dragging it rightward to flatten, then releasing and retreating once fully unfolded.", + "notes": "Segment 2 (frames 2-3) was merged into Subtask 1 since it shows no gripper action and continues approach motion. Segment 5 (frames 19-36) is treated as one continuous drag phase despite lacking explicit keyframes, inferred from trajectory continuity and gripper state persistence. Final frame 37 shows release via gripper opening and spatial retreat." + } + }, + "episode_goal": "Unfold the green cloth from left to right on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.31981033086776733, + 0.13217416405677795, + 0.053073517978191376, + -3.1092021465301514, + 0.1613413691520691, + 0.6682226061820984 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded on the right side. No actions have been completed yet. The robot needs to move closer to the left edge of the cloth to begin the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 18 cm, move down 1 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3172224760055542, + 0.12799549102783203, + 0.04044807702302933, + -3.1012816429138184, + 0.1942034661769867, + 0.6627417206764221 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded on the right side. No actions have been completed yet. The robot needs to move closer to the left edge of the cloth to begin the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 18 cm, tilt back 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move right 4 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.32231637835502625, + 0.08539148420095444, + 0.02892981469631195, + 3.1214852333068848, + 0.1801930069923401, + 0.4857531785964966 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the table with the green cloth folded on the right side. No actions have been completed yet. The robot needs to move closer to the left edge of the cloth to begin the unfolding process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 13 cm, move up 1 cm, tilt back 20 degrees, keep gripper open; then move forward 6 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3269805908203125, + 0.046089474111795425, + 0.03004823438823223, + 3.1382131576538086, + 0.11674176901578903, + 0.4255225360393524 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 9 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 7 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3299561142921448, + 0.014275310561060905, + 0.034251485019922256, + -3.1337831020355225, + 0.028198009356856346, + 0.40368038415908813 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 6 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 8 cm, move right 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.33445581793785095, + -0.01678604818880558, + 0.03590790554881096, + -3.1173012256622314, + -0.011675025336444378, + 0.43313589692115784 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 416, + 323, + 743, + 945 + ], + "red cup": [ + 76, + 393, + 177, + 510 + ], + "stove top": [ + 804, + 215, + 994, + 426 + ], + "blue sponge": [ + 183, + 358, + 250, + 445 + ], + "wooden table": [ + 2, + 213, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, tilt back 10 degrees, keep gripper open; then move forward 9 cm, move right 4 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3425918221473694, + -0.03208037093281746, + 0.0422990582883358, + -3.114737033843994, + -0.056262318044900894, + 0.4753287434577942 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth from above", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, keep gripper open; then move forward 9 cm, move right 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.34867602586746216, + -0.04767303913831711, + 0.04278980568051338, + 3.140423536300659, + -0.10040538012981415, + 0.48191210627555847 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.36267146468162537, + -0.051883768290281296, + 0.04480164125561714, + 3.090627908706665, + -0.18161635100841522, + 0.5161913633346558 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 4 cm, move down 2 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3729134500026703, + -0.06145336106419563, + 0.049668654799461365, + 3.0535430908203125, + -0.23776720464229584, + 0.5235867500305176 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 3 cm, move down 3 cm, tilt back 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3840366005897522, + -0.07043955475091934, + 0.05914907902479172, + 3.01884126663208, + -0.28567928075790405, + 0.5389108657836914 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move down 4 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3987937271595001, + -0.0837680995464325, + 0.06234569847583771, + 3.005232572555542, + -0.3224625289440155, + 0.541113018989563 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 426, + 282, + 743, + 945 + ], + "red cup": [ + 77, + 393, + 176, + 510 + ], + "stove top": [ + 807, + 215, + 994, + 428 + ], + "wooden table": [ + 3, + 192, + 996, + 995 + ], + "blue sponge": [ + 183, + 358, + 250, + 445 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot is positioned above the green cloth on the table, with the gripper open and no contact yet made. The subtask of approaching the cloth from above is in progress, with no prior actions completed. The next likely action is to lower the gripper to make contact with the left edge of the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, move down 5 cm, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4098253846168518, + -0.09039238095283508, + 0.054980285465717316, + 3.003063440322876, + -0.3208322823047638, + 0.5456257462501526 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 4 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.41906651854515076, + -0.09151532500982285, + 0.05014364421367645, + 3.0037410259246826, + -0.3313034474849701, + 0.559916079044342 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, close gripper; then move back 1 cm, move left 1 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.42817792296409607, + -0.09152825176715851, + 0.04309075325727463, + 3.016119956970215, + -0.34017717838287354, + 0.5729247331619263 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, close gripper; then move back 3 cm, move left 3 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4337049126625061, + -0.09185127913951874, + 0.03275563567876816, + 3.035869836807251, + -0.3355817496776581, + 0.5754836797714233 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 2 cm, close gripper; then move back 4 cm, move left 5 cm, move up 5 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4376017451286316, + -0.0913071259856224, + 0.031966470181941986, + 3.0437562465667725, + -0.34024578332901, + 0.5796563029289246 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then move back 5 cm, move left 7 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4407607913017273, + -0.09169986844062805, + 0.023579604923725128, + 3.0571484565734863, + -0.3309207260608673, + 0.5813151597976685 + ], + "gripper_value": 0.9553104043006897 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 7 cm, move left 10 cm, move up 3 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4448695182800293, + -0.0912327915430069, + 0.024310026317834854, + 3.0547103881835938, + -0.34404903650283813, + 0.5888096690177917 + ], + "gripper_value": 0.67718505859375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "make contact and begin grip", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper closed; then move back 9 cm, move left 13 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 18 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 7, + "end": 18 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.444166898727417, + -0.09023997187614441, + 0.01700814813375473, + 3.063326597213745, + -0.3382798433303833, + 0.6003838777542114 + ], + "gripper_value": 0.35109609365463257 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 15 cm, move up 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.4446927607059479, + -0.09097852557897568, + 0.016806283965706825, + 3.0566015243530273, + -0.33932745456695557, + 0.6007450222969055 + ], + "gripper_value": 0.1556580364704132 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 17 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.44240477681159973, + -0.09120076149702072, + 0.013446668162941933, + 3.057830572128296, + -0.3334512412548065, + 0.5941832661628723 + ], + "gripper_value": 0.054840996861457825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 19 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.43632182478904724, + -0.09270260483026505, + 0.015849104151129723, + 3.034871816635132, + -0.3139423429965973, + 0.5882078409194946 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 19 cm, move up 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.4317993223667145, + -0.08102592080831528, + 0.042534973472356796, + 2.9649460315704346, + -0.3184044361114502, + 0.6214821934700012 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 14 cm, move left 19 cm, move up 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.418342649936676, + -0.06192667782306671, + 0.062228891998529434, + 2.913029909133911, + -0.3186912536621094, + 0.6420431137084961 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 13 cm, move left 18 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.40570491552352905, + -0.040066733956336975, + 0.06428591907024384, + 2.907055616378784, + -0.3136664032936096, + 0.6476948261260986 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 12 cm, move left 16 cm, move down 1 cm, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.39079415798187256, + -0.01589135453104973, + 0.04785226657986641, + 2.9378786087036133, + -0.2733401954174042, + 0.6470259428024292 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth from above and is now in contact with it. The gripper is open and positioned to begin gripping the cloth. The next action should be to close the gripper to secure a firm hold on the cloth’s edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 10 cm, move left 14 cm, move up 1 cm, tilt left 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3727523982524872, + 0.013092249631881714, + 0.050804078578948975, + 2.91383695602417, + -0.26197677850723267, + 0.6634668707847595 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bin": [ + 540, + 126, + 839, + 354 + ], + "red cup": [ + 77, + 393, + 176, + 511 + ], + "green cloth": [ + 420, + 337, + 735, + 949 + ], + "blue sponge": [ + 183, + 358, + 249, + 444 + ], + "wooden table": [ + 3, + 205, + 996, + 995 + ], + "stove top": [ + 804, + 215, + 994, + 425 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 10 cm, move up 1 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3549356460571289, + 0.04079577699303627, + 0.058184023946523666, + 2.869734287261963, + -0.24825935065746307, + 0.6944262385368347 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white bin": [ + 476, + 125, + 840, + 366 + ], + "red cup": [ + 76, + 392, + 177, + 512 + ], + "wooden table": [ + 3, + 192, + 996, + 995 + ], + "blue sponge": [ + 183, + 358, + 249, + 445 + ], + "green cloth": [ + 401, + 268, + 735, + 952 + ], + "stove top": [ + 803, + 215, + 995, + 426 + ] + } + } + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 8 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3394671380519867, + 0.05968356505036354, + 0.06397198885679245, + 2.8397068977355957, + -0.24775142967700958, + 0.6942688226699829 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 6 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.32526150345802307, + 0.07523932307958603, + 0.06598946452140808, + 2.8159945011138916, + -0.23088756203651428, + 0.6966140866279602 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 4 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3069678246974945, + 0.09597322344779968, + 0.06601861864328384, + 2.7974720001220703, + -0.2189844399690628, + 0.7047587037086487 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, tilt left 20 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.29865485429763794, + 0.10178232938051224, + 0.06307269632816315, + 2.801908016204834, + -0.20196379721164703, + 0.6859739422798157 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.2887285053730011, + 0.1089324951171875, + 0.0627218708395958, + 2.807535409927368, + -0.19647833704948425, + 0.685236394405365 + ], + "gripper_value": 0.04910881817340851 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835601270198822, + 0.1154928132891655, + 0.061721403151750565, + 2.8719489574432373, + -0.203870490193367, + 0.6406713128089905 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt left 20 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.287382572889328, + 0.11917763203382492, + 0.058367274701595306, + 2.982462167739868, + -0.18374958634376526, + 0.5741990208625793 + ], + "gripper_value": 0.20989185571670532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.29207128286361694, + 0.12151587009429932, + 0.06055295839905739, + 3.110363483428955, + -0.15833589434623718, + 0.537644624710083 + ], + "gripper_value": 0.44022873044013977 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "drag cloth rightward", + "subtask_reasoning": "The robot is currently holding the left edge of the green cloth with a closed gripper, having completed the approach and grasp phases. The end-effector is positioned to pull the fabric across the table surface. The next action is to drag the cloth rightward to continue unfolding it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "tilt left 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 19, + "end": 36 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.2948545217514038, + 0.1171780452132225, + 0.06275684386491776, + -3.0218613147735596, + -0.1848599910736084, + 0.45880624651908875 + ], + "gripper_value": 0.7457395792007446 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Unfold the green cloth from left to right on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth from above" + }, + { + "id": 2, + "subtask": "make contact and begin grip" + }, + { + "id": 3, + "subtask": "drag cloth rightward" + }, + { + "id": 4, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The green cloth is fully unfolded on the table, and the gripper is open and positioned above it. The release action has been completed, and the robot is now retreating slightly upward and backward. The next step is to continue retreating to a safe distance from the cloth." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 37, + "end": 37 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001035_ecot.json b/cot/chunk-0001/episode_0001035_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..78331e060e9ecdc069dc5a7b055a87abfed3850b --- /dev/null +++ b/cot/chunk-0001/episode_0001035_ecot.json @@ -0,0 +1,951 @@ +{ + "task_name": "episode_0001035", + "episode_json": "json/chunk-0001/episode_0001035.json", + "video_path": "videos/chunk-0001/image_0/episode_0001035.mp4", + "instruction": "Put detergent from sink into drying rack.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 14, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001035.json" + }, + "fps": 5.0, + "T_eff": 14, + "gripper_behavior_summary": { + "available": true, + "range": 0.415569543838501, + "std": 0.18867067992687225, + "delta_total": -0.18963509798049927, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41557, std=0.18867, total_delta=-0.18964). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 13 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach detergent bottle\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the detergent bottle in the sink while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper on bottle\", \"start\": 6, \"end\": 8, \"planning\": \"Close gripper around the detergent bottle to establish secure grasp, confirmed by local gripper delta and image context.\"},\n {\"id\": 3, \"name\": \"lift and transport bottle\", \"start\": 9, \"end\": 11, \"planning\": \"Lift the grasped detergent bottle from the sink and move it toward the drying rack area.\"},\n {\"id\": 4, \"name\": \"release bottle into rack\", \"start\": 12, \"end\": 13, \"planning\": \"Open gripper to release the detergent bottle into the drying rack, as indicated by increasing gripper value and final pose.\"}\n ],\n \"global_plan\": \"Approach the detergent bottle in the sink, grasp it securely, lift and carry it to the drying rack, then release it into the rack.\",\n \"notes\": \"Gripper evidence supports meaningful closing (delta=-0.16914 at frame 6) and opening (delta=+0.22527 at frame 13), consistent with grasp-and-release mechanics. Motion and visual context confirm object manipulation rather than sliding or nudging.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach detergent bottle", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the detergent bottle in the sink while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper on bottle", + "start": 6, + "end": 8, + "planning": "Close gripper around the detergent bottle to establish secure grasp, confirmed by local gripper delta and image context." + }, + { + "id": 3, + "name": "lift and transport bottle", + "start": 9, + "end": 11, + "planning": "Lift the grasped detergent bottle from the sink and move it toward the drying rack area." + }, + { + "id": 4, + "name": "release bottle into rack", + "start": 12, + "end": 13, + "planning": "Open gripper to release the detergent bottle into the drying rack, as indicated by increasing gripper value and final pose." + } + ], + "global_plan": "Approach the detergent bottle in the sink, grasp it securely, lift and carry it to the drying rack, then release it into the rack.", + "notes": "Gripper evidence supports meaningful closing (delta=-0.16914 at frame 6) and opening (delta=+0.22527 at frame 13), consistent with grasp-and-release mechanics. Motion and visual context confirm object manipulation rather than sliding or nudging." + } + }, + "episode_goal": "Pick up the detergent bottle from the sink and place it into the drying rack.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.22938965260982513, + -0.04088006913661957, + 0.20453928411006927, + 3.0999464988708496, + -0.25909876823425293, + -0.029226940125226974 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 1 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 3 cm, move up 5 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22392387688159943, + -0.042768873274326324, + 0.18885017931461334, + 3.128345251083374, + -0.24985778331756592, + -0.105913907289505 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move down 8 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 5 cm, move left 6 cm, move up 10 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.21343989670276642, + -0.04931363835930824, + 0.17306064069271088, + 3.138899087905884, + -0.2592671513557434, + -0.23014195263385773 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2088179588317871, + -0.04530356824398041, + 0.15514418482780457, + 3.1190028190612793, + -0.27832114696502686, + -0.3450815975666046 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.20626910030841827, + -0.03670388087630272, + 0.14241546392440796, + 3.112877130508423, + -0.3357885479927063, + -0.42329323291778564 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.20129328966140747, + -0.031823571771383286, + 0.12534840404987335, + 3.113924741744995, + -0.3849877417087555, + -0.42658567428588867 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "approach detergent bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2007075995206833, + -0.029352426528930664, + 0.11087167263031006, + 3.1111268997192383, + -0.44702932238578796, + -0.42380252480506897 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green sponge": [ + 391, + 1, + 483, + 119 + ], + "red cup": [ + 77, + 222, + 244, + 482 + ], + "red bowl": [ + 901, + 130, + 996, + 265 + ], + "blue cup": [ + 669, + 570, + 909, + 828 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot is positioned above the sink with the detergent bottle visible below. No objects have been grasped yet as the gripper remains open. The robot needs to lower its arm to reach the detergent bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.20296546816825867, + -0.026562826707959175, + 0.10391507297754288, + 3.101576089859009, + -0.45935332775115967, + -0.3903411030769348 + ], + "gripper_value": 0.831673800945282 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot arm is positioned directly over the detergent bottle in the sink, with the gripper fingers aligned around the bottle's neck. The gripper is currently open but has begun closing based on segment-level evidence showing a significant decrease in gripper value. The next action is to complete the gripper closure to securely grasp the bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move up 3 cm, tilt forward 10 degrees, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.20142261683940887, + -0.027765225619077682, + 0.10448156297206879, + 3.090488910675049, + -0.42550432682037354, + -0.39503011107444763 + ], + "gripper_value": 0.5948979258537292 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "close gripper on bottle", + "subtask_reasoning": "The robot arm is positioned directly over the detergent bottle in the sink, with the gripper fingers aligned around the bottle's neck. The gripper is currently open but has begun closing based on segment-level evidence showing a significant decrease in gripper value. The next action is to complete the gripper closure to securely grasp the bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 3 cm, keep gripper closed; then move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.21700893342494965, + -0.017380621284246445, + 0.13541990518569946, + 3.0991644859313965, + -0.34166091680526733, + -0.44084876775741577 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "lift and transport bottle", + "subtask_reasoning": "The robot arm is positioned directly over the detergent bottle in the sink, with the gripper fingers aligned around the bottle's neck. The gripper is currently open but has begun closing based on segment-level evidence showing a significant decrease in gripper value. The next action is to complete the gripper closure to securely grasp the bottle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 9 cm, move up 11 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 7 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24098898470401764, + 0.009634322486817837, + 0.1862347424030304, + 3.1396288871765137, + -0.2555193305015564, + -0.5043136477470398 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red bowl": [ + 901, + 130, + 996, + 264 + ], + "red cup": [ + 77, + 221, + 245, + 483 + ], + "dish rack": [ + 59, + 49, + 531, + 429 + ], + "blue cup": [ + 669, + 570, + 908, + 828 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "lift and transport bottle", + "subtask_reasoning": "The detergent bottle is currently held above the sink, having been lifted from its initial position. The gripper remains closed around the bottle with no significant change in grip state during this segment. The next action should involve transporting the bottle toward the drying rack for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 7 cm, move up 6 cm, tilt forward 10 degrees, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 9, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2642299234867096, + 0.04394175112247467, + 0.23080399632453918, + -3.1361019611358643, + -0.1875697374343872, + -0.5471627116203308 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "lift and transport bottle", + "subtask_reasoning": "The detergent bottle is currently held above the sink, having been lifted from its initial position. The gripper remains closed around the bottle with no significant change in grip state during this segment. The next action should involve transporting the bottle toward the drying rack for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move up 1 cm, keep gripper closed; then move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 9, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2746392786502838, + 0.07545333355665207, + 0.24506446719169617, + 3.098599433898926, + -0.15618956089019775, + -0.5606039762496948 + ], + "gripper_value": 0.5859079360961914 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "release bottle into rack", + "subtask_reasoning": "The detergent bottle is currently held above the drying rack, with the gripper showing a significant opening trend (delta=0.22527) indicating the release action is underway. The bottle has been successfully transported from the sink to the target location. The next action is to fully open the gripper to drop the bottle into the rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 12, + "end": 13 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.27371567487716675, + 0.09914150834083557, + 0.24203185737133026, + 3.0627243518829346, + -0.2224326729774475, + -0.551312267780304 + ], + "gripper_value": 0.8111810088157654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the detergent bottle from the sink and place it into the drying rack." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach detergent bottle" + }, + { + "id": 2, + "subtask": "close gripper on bottle" + }, + { + "id": 3, + "subtask": "lift and transport bottle" + }, + { + "id": 4, + "subtask": "release bottle into rack" + } + ], + "subtask_name": "release bottle into rack", + "subtask_reasoning": "The detergent bottle is currently held above the drying rack, with the gripper showing a significant opening trend (delta=0.22527) indicating the release action is underway. The bottle has been successfully transported from the sink to the target location. The next action is to fully open the gripper to drop the bottle into the rack." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 13 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 12, + "end": 13 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001036_ecot.json b/cot/chunk-0001/episode_0001036_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..832b2168308ee63f803bcf1355e06cc040659acd --- /dev/null +++ b/cot/chunk-0001/episode_0001036_ecot.json @@ -0,0 +1,2362 @@ +{ + "task_name": "episode_0001036", + "episode_json": "json/chunk-0001/episode_0001036.json", + "video_path": "videos/chunk-0001/image_0/episode_0001036.mp4", + "instruction": "Put the ball in the cup.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 39, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001036.json" + }, + "fps": 5.0, + "T_eff": 39, + "gripper_behavior_summary": { + "available": true, + "range": 0.4165462851524353, + "std": 0.2000318318605423, + "delta_total": 0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.41655, std=0.20003, total_delta=0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 11 + ], + [ + 2, + 12, + 20 + ], + [ + 3, + 21, + 22 + ], + [ + 4, + 23, + 38 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach blue block\", \"start\": 0, \"end\": 11, \"planning\": \"Move the end-effector from initial position toward the blue block on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp blue block\", \"start\": 12, \"end\": 20, \"planning\": \"Close the gripper around the blue block and secure it for lifting, as confirmed by significant gripper closure and visual evidence.\"},\n {\"id\": 3, \"name\": \"transport blue block\", \"start\": 21, \"end\": 22, \"planning\": \"Lift and carry the grasped blue block across the table toward the target cup location while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release blue block into cup\", \"start\": 23, \"end\": 38, \"planning\": \"Position the blue block over the green cup and open the gripper to drop it inside, completing the task.\"}\n ],\n \"global_plan\": \"Approach the blue block, grasp it securely, transport it to the green cup, and release it inside to complete the task.\",\n \"notes\": \"Segment 1 shows no gripper closure — motion only. Segment 2 shows clear gripper closing consistent with grasping. Segment 3 is short transport phase with maintained grip. Segment 4 includes positioning and release, confirmed by gripper opening at end.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach blue block", + "start": 0, + "end": 11, + "planning": "Move the end-effector from initial position toward the blue block on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp blue block", + "start": 12, + "end": 20, + "planning": "Close the gripper around the blue block and secure it for lifting, as confirmed by significant gripper closure and visual evidence." + }, + { + "id": 3, + "name": "transport blue block", + "start": 21, + "end": 22, + "planning": "Lift and carry the grasped blue block across the table toward the target cup location while maintaining grip." + }, + { + "id": 4, + "name": "release blue block into cup", + "start": 23, + "end": 38, + "planning": "Position the blue block over the green cup and open the gripper to drop it inside, completing the task." + } + ], + "global_plan": "Approach the blue block, grasp it securely, transport it to the green cup, and release it inside to complete the task.", + "notes": "Segment 1 shows no gripper closure — motion only. Segment 2 shows clear gripper closing consistent with grasping. Segment 3 is short transport phase with maintained grip. Segment 4 includes positioning and release, confirmed by gripper opening at end." + } + }, + "episode_goal": "Place the blue block on top of the green block.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30431458353996277, + 0.08990241587162018, + 0.16586323082447052, + 3.119062900543213, + -0.2983718812465668, + 0.4819537103176117 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the scene. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3036714196205139, + 0.08899527043104172, + 0.1560162603855133, + 3.124319314956665, + -0.26807066798210144, + 0.47919467091560364 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the scene. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move right 4 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3109522759914398, + 0.08011429756879807, + 0.1424020677804947, + 3.1193487644195557, + -0.23917463421821594, + 0.46584030985832214 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the scene. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move down 9 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3244935870170593, + 0.06688342243432999, + 0.1358581930398941, + 3.104356527328491, + -0.27142298221588135, + 0.45007675886154175 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the scene. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 2 cm, move down 8 cm, keep gripper open; then move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.34795454144477844, + 0.05164988711476326, + 0.12452057749032974, + 3.0847816467285156, + -0.29568004608154297, + 0.4605589509010315 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the scene. No actions have been completed yet as the gripper remains open and no contact has been made. The robot needs to move its end-effector closer to the blue block to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move down 7 cm, keep gripper open; then move forward 1 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37018394470214844, + 0.046458497643470764, + 0.1182495504617691, + 3.0919337272644043, + -0.3341749608516693, + 0.47752296924591064 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 6 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.38653621077537537, + 0.04724152386188507, + 0.10637904703617096, + 3.0950207710266113, + -0.3552655875682831, + 0.5007014870643616 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 5 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4001495838165283, + 0.050234705209732056, + 0.09534183144569397, + 3.1109390258789062, + -0.380967378616333, + 0.48419874906539917 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 4 cm, keep gripper open; then move forward 2 cm, move left 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4068198502063751, + 0.052079200744628906, + 0.08356763422489166, + 3.1253809928894043, + -0.37540093064308167, + 0.4755798876285553 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move forward 2 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.40599197149276733, + 0.04788484796881676, + 0.07928154617547989, + 3.1084516048431396, + -0.3415673077106476, + 0.49247440695762634 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.4026961922645569, + 0.046676766127347946, + 0.07309699058532715, + 3.1130266189575195, + -0.33696743845939636, + 0.47652384638786316 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 1 cm, move left 2 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4000786542892456, + 0.04539983347058296, + 0.06581838428974152, + 3.1299633979797363, + -0.32131585478782654, + 0.4667704701423645 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "approach blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 5 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 11 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4002586603164673, + 0.04849983751773834, + 0.05365263298153877, + -3.1268393993377686, + -0.31456640362739563, + 0.47055575251579285 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 3 cm, move up 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 4 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.39915841817855835, + 0.05222021043300629, + 0.028719929978251457, + -3.0874829292297363, + -0.26891499757766724, + 0.4770233929157257 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 2 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4101012945175171, + 0.05479506403207779, + 0.02559237740933895, + -3.081974983215332, + -0.2584635615348816, + 0.5094349980354309 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4157814681529999, + 0.055772483348846436, + 0.02504129521548748, + -3.0928268432617188, + -0.25157085061073303, + 0.5339874029159546 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot is positioned above the table with the blue block visible in the distance. The gripper is fully open, and the robot is currently moving towards the blue block to initiate the approach phase. The next action is to continue advancing the end-effector to reach a position suitable for grasping the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.41583773493766785, + 0.05643464997410774, + 0.02614208124577999, + -3.095837116241455, + -0.24407988786697388, + 0.5469050407409668 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the blue block. The next action is to initiate the grasping motion by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 2 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.41811493039131165, + 0.05971646308898926, + 0.0268098097294569, + -3.090636730194092, + -0.23591838777065277, + 0.5442950129508972 + ], + "gripper_value": 0.9694526195526123 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the blue block. The next action is to initiate the grasping motion by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move left 1 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4209442436695099, + 0.06368130445480347, + 0.027362370863556862, + -3.107454538345337, + -0.20799168944358826, + 0.5690498948097229 + ], + "gripper_value": 0.7011857628822327 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the blue block. The next action is to initiate the grasping motion by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 1 cm, move up 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.411648154258728, + 0.0734412670135498, + 0.028440339490771294, + -3.1253583431243896, + -0.15309099853038788, + 0.6280903816223145 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the blue block. The next action is to initiate the grasping motion by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move up 4 cm, keep gripper closed; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 1 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.38956835865974426, + 0.07085667550563812, + 0.04676342010498047, + -3.1407742500305176, + -0.12051694095134735, + 0.6583429574966431 + ], + "gripper_value": 0.5879040956497192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "grasp blue block", + "subtask_reasoning": "The robot has approached the blue block and is now positioned above it with the gripper open. The current subtask involves closing the gripper to securely grasp the blue block. The next action is to initiate the grasping motion by closing the gripper around the blue block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move up 2 cm, keep gripper closed; then move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 12, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3536454141139984, + 0.07449670135974884, + 0.06728046387434006, + 3.127837896347046, + -0.08258466422557831, + 0.7164696455001831 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move back 2 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3129441440105438, + 0.07162179052829742, + 0.08097796142101288, + 3.1294384002685547, + -0.09044184535741806, + 0.6797585487365723 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "transport blue block", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move up 1 cm, keep gripper closed; then move back 2 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.28106242418289185, + 0.07139863073825836, + 0.0861203521490097, + -3.124220371246338, + -0.1391383558511734, + 0.5935359001159668 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.26221778988838196, + 0.07136684656143188, + 0.08668669313192368, + -3.117208480834961, + -0.16630573570728302, + 0.5356400012969971 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move down 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.253458708524704, + 0.07033202797174454, + 0.0825268030166626, + -3.116987705230713, + -0.18820898234844208, + 0.49001261591911316 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.25732421875, + 0.0696152076125145, + 0.07988973706960678, + -3.1181342601776123, + -0.22077417373657227, + 0.4839654862880707 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2618253529071808, + 0.0679124966263771, + 0.06854897737503052, + -3.1019725799560547, + -0.21590769290924072, + 0.4918757379055023 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.26756319403648376, + 0.06421897560358047, + 0.061766959726810455, + -3.091261863708496, + -0.2135712206363678, + 0.4969595670700073 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690388262271881, + 0.06012875959277153, + 0.061219848692417145, + -3.092648983001709, + -0.2127183973789215, + 0.5012622475624084 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The robot is currently holding the blue block above the table, having completed the approach and grasp phases. The gripper signal indicates a stable hold with no active closing motion in this segment. The next action is to transport the block towards the green cup for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.26847603917121887, + 0.05579517036676407, + 0.06189987063407898, + -3.0948543548583984, + -0.21452438831329346, + 0.4938769042491913 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2641323208808899, + 0.05190785229206085, + 0.06508269160985947, + -3.09610915184021, + -0.2148078829050064, + 0.4887286424636841 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589258849620819, + 0.048300668597221375, + 0.06768467277288437, + -3.0970041751861572, + -0.21175435185432434, + 0.4846016764640808 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.25591474771499634, + 0.04766928777098656, + 0.06896845996379852, + -3.096250057220459, + -0.21068012714385986, + 0.48524361848831177 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2532295882701874, + 0.04631747305393219, + 0.06658999621868134, + -3.0961852073669434, + -0.20443180203437805, + 0.4854075312614441 + ], + "gripper_value": 0.5869058966636658 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565337121486664, + 0.047066830098629, + 0.06660934537649155, + -3.1013646125793457, + -0.22573347389698029, + 0.4832519590854645 + ], + "gripper_value": 0.6340072751045227 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.2589363753795624, + 0.051238007843494415, + 0.0650068148970604, + -3.089172124862671, + -0.24678711593151093, + 0.5111104846000671 + ], + "gripper_value": 0.9287639856338501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.26568514108657837, + 0.052721068263053894, + 0.06903930753469467, + -3.098426103591919, + -0.27260205149650574, + 0.5258244276046753 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.2732662260532379, + 0.052331481128931046, + 0.07683463394641876, + -3.1171517372131348, + -0.28531017899513245, + 0.5439380407333374 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the blue block on top of the green block." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach blue block" + }, + { + "id": 2, + "subtask": "grasp blue block" + }, + { + "id": 3, + "subtask": "transport blue block" + }, + { + "id": 4, + "subtask": "release blue block into cup" + } + ], + "subtask_name": "release blue block into cup", + "subtask_reasoning": "The blue block is currently held by the gripper and positioned directly above the green block. The gripper is closed, indicating the block is still secured. The next action is to open the gripper to release the blue block onto the green block." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 38 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 38 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001039_ecot.json b/cot/chunk-0001/episode_0001039_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f4ea3f4e01cc7cc45447ed759a8cc1e50873dd --- /dev/null +++ b/cot/chunk-0001/episode_0001039_ecot.json @@ -0,0 +1,3110 @@ +{ + "task_name": "episode_0001039", + "episode_json": "json/chunk-0001/episode_0001039.json", + "video_path": "videos/chunk-0001/image_0/episode_0001039.mp4", + "instruction": "Picked the white object from the drawer and put it on the table.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 40, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001039.json" + }, + "fps": 5.0, + "T_eff": 40, + "gripper_behavior_summary": { + "available": true, + "range": 0.9515474438667297, + "std": 0.4189233183860779, + "delta_total": -0.0006645917892456055, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.95155, std=0.41892, total_delta=-0.00066). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 300, + 300, + 300, + 300, + 300, + 300, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 100, + 100, + 123, + 123, + 123, + 123, + 23, + 23, + 23, + 23, + 23, + 23, + 23, + 223, + 223, + 223, + 223, + 238, + 238 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 20 + ], + [ + 3, + 21, + 22 + ], + [ + 4, + 23, + 26 + ], + [ + 5, + 27, + 33 + ], + [ + 6, + 34, + 37 + ], + [ + 7, + 38, + 39 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach drawer interior\", \"start\": 0, \"end\": 5, \"planning\": \"Move end-effector toward the white object inside the open drawer without closing gripper.\"},\n {\"id\": 2, \"name\": \"position above object\", \"start\": 6, \"end\": 20, \"planning\": \"Adjust pose to align gripper directly over the white object in preparation for grasp.\"},\n {\"id\": 3, \"name\": \"grasp white object\", \"start\": 21, \"end\": 22, \"planning\": \"Close gripper around the white object as confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 4, \"name\": \"lift and withdraw from drawer\", \"start\": 23, \"end\": 26, \"planning\": \"Raise the grasped object vertically and begin moving it out of the drawer space.\"},\n {\"id\": 5, \"name\": \"transport to table surface\", \"start\": 27, \"end\": 33, \"planning\": \"Carry the held object across the workspace toward the target placement area on the table.\"},\n {\"id\": 6, \"name\": \"lower toward placement zone\", \"start\": 34, \"end\": 37, \"planning\": \"Descend with the object to hover just above the intended drop location on the table.\"},\n {\"id\": 7, \"name\": \"release object on table\", \"start\": 38, \"end\": 39, \"planning\": \"Open gripper to deposit the white object onto the table surface, completing the task.\"}\n ],\n \"global_plan\": \"Approach the white object in the drawer, grasp it securely, lift and carry it to the table, then release it at the target location.\",\n \"notes\": \"Gripper closure is only asserted in segments 3 (frames 21-22) and 7 (frames 38-39), where segment-level evidence and imagery confirm meaningful closing. Segment 5 shows no gripper change — object is already held, so motion is transport-only. All frame ranges are contiguous and cover full trajectory [0,39].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach drawer interior", + "start": 0, + "end": 5, + "planning": "Move end-effector toward the white object inside the open drawer without closing gripper." + }, + { + "id": 2, + "name": "position above object", + "start": 6, + "end": 20, + "planning": "Adjust pose to align gripper directly over the white object in preparation for grasp." + }, + { + "id": 3, + "name": "grasp white object", + "start": 21, + "end": 22, + "planning": "Close gripper around the white object as confirmed by significant gripper closure and visual contact." + }, + { + "id": 4, + "name": "lift and withdraw from drawer", + "start": 23, + "end": 26, + "planning": "Raise the grasped object vertically and begin moving it out of the drawer space." + }, + { + "id": 5, + "name": "transport to table surface", + "start": 27, + "end": 33, + "planning": "Carry the held object across the workspace toward the target placement area on the table." + }, + { + "id": 6, + "name": "lower toward placement zone", + "start": 34, + "end": 37, + "planning": "Descend with the object to hover just above the intended drop location on the table." + }, + { + "id": 7, + "name": "release object on table", + "start": 38, + "end": 39, + "planning": "Open gripper to deposit the white object onto the table surface, completing the task." + } + ], + "global_plan": "Approach the white object in the drawer, grasp it securely, lift and carry it to the table, then release it at the target location.", + "notes": "Gripper closure is only asserted in segments 3 (frames 21-22) and 7 (frames 38-39), where segment-level evidence and imagery confirm meaningful closing. Segment 5 shows no gripper change — object is already held, so motion is transport-only. All frame ranges are contiguous and cover full trajectory [0,39]." + } + }, + "episode_goal": "Pick up the white ball from the drawer and place it on the table.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.26455727219581604, + 0.012878380715847015, + 0.1447497010231018, + -3.095003843307495, + -0.019818585366010666, + 0.35325148701667786 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the gripper open and ready to interact. No objects have been grasped yet. The next action should be to lower the gripper into the drawer to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 3 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2644942104816437, + 0.012877220287919044, + 0.13873328268527985, + -3.0874557495117188, + 0.0022456280421465635, + 0.34705686569213867 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the gripper open and ready to interact. No objects have been grasped yet. The next action should be to lower the gripper into the drawer to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.26220065355300903, + 0.03143775463104248, + 0.13874974846839905, + -3.0861639976501465, + 0.008448474109172821, + 0.38416144251823425 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 4 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25851452350616455, + 0.04779864102602005, + 0.1398681402206421, + -3.08898663520813, + 0.02223886176943779, + 0.3815137445926666 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 3 cm, move down 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2606196701526642, + 0.06359240412712097, + 0.14587624371051788, + -3.1085727214813232, + 0.041221100836992264, + 0.32574185729026794 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white ball": [ + 306, + 337, + 418, + 455 + ], + "blue block": [ + 680, + 566, + 858, + 784 + ], + "wooden table": [ + 4, + 153, + 996, + 992 + ], + "white box lid": [ + 2, + 49, + 349, + 376 + ], + "red block": [ + 672, + 364, + 778, + 571 + ], + "black stand": [ + 172, + 3, + 480, + 293 + ], + "wooden box": [ + 2, + 48, + 635, + 664 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt left 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move left 3 cm, move down 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.26687365770339966, + 0.0736251175403595, + 0.1453893780708313, + -3.067736864089966, + 0.10020941495895386, + 0.17144322395324707 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "approach drawer interior", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 5 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.27445200085639954, + 0.07251110672950745, + 0.14264871180057526, + -3.003723382949829, + 0.13217461109161377, + 0.001758707338012755 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2803666293621063, + 0.07138935476541519, + 0.12947316467761993, + -2.9441070556640625, + 0.19900676608085632, + -0.11523053795099258 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2846009433269501, + 0.07682793587446213, + 0.12265074253082275, + -2.895970344543457, + 0.23267610371112823, + -0.17221184074878693 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2838559150695801, + 0.09018160402774811, + 0.11947207897901535, + -2.8964052200317383, + 0.23895086348056793, + -0.17493018507957458 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.28058379888534546, + 0.10070640593767166, + 0.1088051050901413, + -2.943312168121338, + 0.25731390714645386, + -0.15888117253780365 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white ball": [ + 306, + 337, + 418, + 454 + ], + "yellow label container": [ + 649, + 71, + 780, + 270 + ], + "blue block": [ + 680, + 565, + 858, + 783 + ], + "black stand": [ + 218, + 3, + 427, + 337 + ], + "wooden table": [ + 5, + 153, + 996, + 992 + ], + "white box lid": [ + 2, + 49, + 330, + 376 + ], + "red block": [ + 671, + 362, + 778, + 571 + ], + "wooden box": [ + 2, + 48, + 635, + 663 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2783699333667755, + 0.10738339275121689, + 0.10595860332250595, + -3.008016586303711, + 0.2387782782316208, + -0.17911694943904877 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 4 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.2784930169582367, + 0.1080116555094719, + 0.10185611248016357, + -3.0532138347625732, + 0.21119646728038788, + -0.21672256290912628 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the open drawer, with the white object visible inside. No grasping has occurred yet as the gripper remains open. The next action should involve lowering the arm to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, tilt right 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2751654386520386, + 0.10395783931016922, + 0.10112245380878448, + -3.067929267883301, + 0.18688347935676575, + -0.25803548097610474 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, close gripper; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.27039995789527893, + 0.10040036588907242, + 0.09408001601696014, + -3.0741546154022217, + 0.19652728736400604, + -0.25097107887268066 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 4 cm, move down 3 cm, close gripper; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.26974672079086304, + 0.0959692969918251, + 0.09012986719608307, + -3.0811614990234375, + 0.1948355883359909, + -0.2642080783843994 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, close gripper; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move left 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2722621560096741, + 0.09603316336870193, + 0.08749041706323624, + -3.078289270401001, + 0.184520423412323, + -0.2556721866130829 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, close gripper; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move up 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.2749817669391632, + 0.0949728861451149, + 0.08470789343118668, + -3.081963539123535, + 0.1709318310022354, + -0.24632179737091064 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 2 cm, close gripper; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.27646780014038086, + 0.09339489787817001, + 0.07664526998996735, + -3.0991954803466797, + 0.1774546504020691, + -0.2452378123998642 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, close gripper; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2772905230522156, + 0.09007681906223297, + 0.07535765320062637, + -3.120248794555664, + 0.169267937541008, + -0.25039052963256836 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move down 1 cm, close gripper; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 8 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.2779805660247803, + 0.07689759880304337, + 0.07242672890424728, + -3.1334645748138428, + 0.1692371964454651, + -0.28735119104385376 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "position above object", + "subtask_reasoning": "The robot arm is positioned above the white object inside the open drawer, with the gripper open and ready. The approach to the drawer interior has been completed, and the arm is now aligned for the next step. The most likely next action is to lower the gripper to make contact with the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper closed; then move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move right 12 cm, move up 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755568027496338, + 0.0631977841258049, + 0.06772363185882568, + 3.122483968734741, + 0.16434790194034576, + -0.297881156206131 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp white object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 1 cm, move right 15 cm, move up 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.27700182795524597, + 0.06151546537876129, + 0.06699348241090775, + 3.109875202178955, + 0.1460534930229187, + -0.24699966609477997 + ], + "gripper_value": 0.6611326336860657 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "grasp white object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper closed; then move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 3 cm, move right 17 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 22 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27534496784210205, + 0.06891067326068878, + 0.06685797870159149, + 3.1040689945220947, + 0.1448238641023636, + -0.20720840990543365 + ], + "gripper_value": 0.4148389995098114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lift and withdraw from drawer", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 6 cm, move right 18 cm, move down 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.27465805411338806, + 0.07099853456020355, + 0.06928576529026031, + 3.112548828125, + 0.13806776702404022, + -0.18626603484153748 + ], + "gripper_value": 0.29134905338287354 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lift and withdraw from drawer", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 3 cm, move up 5 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move right 18 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.27137327194213867, + 0.0772581547498703, + 0.08678892254829407, + 3.1140434741973877, + 0.10338036715984344, + -0.14150354266166687 + ], + "gripper_value": 0.1649598330259323 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lift and withdraw from drawer", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 3 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move right 18 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2711992561817169, + 0.0724409893155098, + 0.11236640810966492, + 3.126215696334839, + 0.059686195105314255, + -0.08989294618368149 + ], + "gripper_value": 0.05896064639091492 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lift and withdraw from drawer", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move right 18 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 4 cm, move down 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 26 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 23, + "end": 26 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.2768411934375763, + 0.04492346569895744, + 0.11812684684991837, + -3.0121610164642334, + 0.07438730448484421, + 0.0378030426800251 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "transport to table surface", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 18 cm, move down 5 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 3 cm, move left 1 cm, move down 3 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.28029966354370117, + 0.008850333280861378, + 0.12300144881010056, + -2.9977190494537354, + 0.03936362639069557, + 0.03311819210648537 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "transport to table surface", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 15 cm, move down 6 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2816314101219177, + -0.03793606907129288, + 0.12933902442455292, + -3.0711097717285156, + 0.017291158437728882, + -0.05449030175805092 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow label container": [ + 648, + 70, + 782, + 268 + ], + "white ball": [ + 449, + 315, + 547, + 445 + ], + "wooden table": [ + 4, + 173, + 996, + 993 + ], + "white box lid": [ + 3, + 48, + 352, + 377 + ], + "blue block": [ + 680, + 566, + 859, + 783 + ], + "red block": [ + 673, + 364, + 778, + 571 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "transport to table surface", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object inside the open drawer. The gripper is currently open, and the segment-level evidence indicates a closing action is occurring. The next immediate action is to complete the grasp by closing the gripper fingers around the white object." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 10 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.28152957558631897, + -0.07395315170288086, + 0.13667483627796173, + -3.029064655303955, + -0.007184251677244902, + -0.10492315143346786 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "transport to table surface", + "subtask_reasoning": "The robot is currently transporting the white ball, which is held in the gripper, from the drawer area toward the table surface. The gripper state remains constant, indicating the object is already secured and no grasping action is occurring in this segment. The immediate next step is to continue moving the arm to position the ball over the target location on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 7 cm, move down 7 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 27, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.2835017442703247, + -0.10881614685058594, + 0.12703095376491547, + -2.983380079269409, + 0.005718971136957407, + -0.1660575270652771 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "transport to table surface", + "subtask_reasoning": "The robot is currently transporting the white ball, which is held in the gripper, from the drawer area toward the table surface. The gripper state remains constant, indicating the object is already secured and no grasping action is occurring in this segment. The immediate next step is to continue moving the arm to position the ball over the target location on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move right 3 cm, move down 6 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.30519387125968933, + -0.12749259173870087, + 0.10536477714776993, + -3.040977716445923, + 0.05741488188505173, + -0.18680067360401154 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "transport to table surface", + "subtask_reasoning": "The robot is currently transporting the white ball, which is held in the gripper, from the drawer area toward the table surface. The gripper state remains constant, indicating the object is already secured and no grasping action is occurring in this segment. The immediate next step is to continue moving the arm to position the ball over the target location on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.33727577328681946, + -0.13669268786907196, + 0.0925011932849884, + -3.112323045730591, + 0.08628148585557938, + -0.1778438538312912 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "transport to table surface", + "subtask_reasoning": "The robot is currently transporting the white ball, which is held in the gripper, from the drawer area toward the table surface. The gripper state remains constant, indicating the object is already secured and no grasping action is occurring in this segment. The immediate next step is to continue moving the arm to position the ball over the target location on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 3 cm, keep gripper closed; then move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 27, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3694975972175598, + -0.13906200230121613, + 0.06642139703035355, + 3.095498561859131, + 0.14940352737903595, + -0.15650895237922668 + ], + "gripper_value": 0.04860575497150421 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lower toward placement zone", + "subtask_reasoning": "The robot is currently transporting the white ball, which is held in the gripper, from the drawer area toward the table surface. The gripper state remains constant, indicating the object is already secured and no grasping action is occurring in this segment. The immediate next step is to continue moving the arm to position the ball over the target location on the table for release." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 30 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.39512312412261963, + -0.13842400908470154, + 0.04229527711868286, + 3.059937000274658, + 0.20832030475139618, + -0.11868035793304443 + ], + "gripper_value": 0.06803370267152786 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "black stand": [ + 783, + 24, + 993, + 495 + ], + "white ball": [ + 806, + 423, + 913, + 546 + ], + "wooden table": [ + 4, + 105, + 995, + 990 + ], + "blue block": [ + 681, + 566, + 858, + 784 + ], + "red block": [ + 673, + 362, + 777, + 570 + ], + "wooden box": [ + 4, + 48, + 653, + 675 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lower toward placement zone", + "subtask_reasoning": "The robot is lowering the white ball toward the table surface, with the gripper still holding the object as indicated by the segment-level gripper evidence. The ball is positioned above the target placement zone, and the next action is to release it onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 34, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.4070824980735779, + -0.1410447210073471, + 0.03799964860081673, + 3.0489633083343506, + 0.19205133616924286, + -0.0965801477432251 + ], + "gripper_value": 0.20928038656711578 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lower toward placement zone", + "subtask_reasoning": "The robot is lowering the white ball toward the table surface, with the gripper still holding the object as indicated by the segment-level gripper evidence. The ball is positioned above the target placement zone, and the next action is to release it onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.40170031785964966, + -0.1337624341249466, + 0.03274189680814743, + 3.0686142444610596, + 0.1984514445066452, + -0.06641022115945816 + ], + "gripper_value": 0.464354008436203 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "lower toward placement zone", + "subtask_reasoning": "The robot is lowering the white ball toward the table surface, with the gripper still holding the object as indicated by the segment-level gripper evidence. The ball is positioned above the target placement zone, and the next action is to release it onto the table." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 2 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 34, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.38459718227386475, + -0.12846629321575165, + 0.05521625280380249, + 3.062878370285034, + 0.15752503275871277, + -0.06256243586540222 + ], + "gripper_value": 0.775918185710907 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The white object is already on the table, indicating the release action has been completed. The gripper is open and positioned above the table, consistent with having just released the object. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 38, + "end": 39 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.36890923976898193, + -0.1149422898888588, + 0.10065366327762604, + 3.0549869537353516, + 0.08743400871753693, + -0.026143059134483337 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white ball from the drawer and place it on the table." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach drawer interior" + }, + { + "id": 2, + "subtask": "position above object" + }, + { + "id": 3, + "subtask": "grasp white object" + }, + { + "id": 4, + "subtask": "lift and withdraw from drawer" + }, + { + "id": 5, + "subtask": "transport to table surface" + }, + { + "id": 6, + "subtask": "lower toward placement zone" + }, + { + "id": 7, + "subtask": "release object on table" + } + ], + "subtask_name": "release object on table", + "subtask_reasoning": "The white object is already on the table, indicating the release action has been completed. The gripper is open and positioned above the table, consistent with having just released the object. No further action is needed for this subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 39 + }, + "cache_ref": { + "anchor_ref_reasoning": 38 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 38, + "end": 39 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001041_ecot.json b/cot/chunk-0001/episode_0001041_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..8b1275a687075f450780721ac97edc04aacda182 --- /dev/null +++ b/cot/chunk-0001/episode_0001041_ecot.json @@ -0,0 +1,2154 @@ +{ + "task_name": "episode_0001041", + "episode_json": "json/chunk-0001/episode_0001041.json", + "video_path": "videos/chunk-0001/image_0/episode_0001041.mp4", + "instruction": "Close fridge.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001041.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006677508354187012, + "std": 0.00011124638695036992, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00067, std=0.00011, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 7 + ], + [ + 3, + 8, + 24 + ], + [ + 4, + 25, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach fridge door\", \"start\": 0, \"end\": 3, \"planning\": \"Move end-effector toward the open fridge door to prepare for contact.\"},\n {\"id\": 2, \"name\": \"make initial contact\", \"start\": 4, \"end\": 7, \"planning\": \"Establish physical contact with the fridge door using the end-effector without grasping.\"},\n {\"id\": 3, \"name\": \"push door closed\", \"start\": 8, \"end\": 24, \"planning\": \"Apply continuous pushing force to swing the fridge door shut along its hinge axis.\"},\n {\"id\": 4, \"name\": \"finalize closure and retreat\", \"start\": 25, \"end\": 34, \"planning\": \"Complete door closure by ensuring full seal, then retract end-effector away from the fridge.\"}\n ],\n \"global_plan\": \"Close the fridge door by approaching, making contact, pushing it shut, and retreating — all without grasping, as gripper remains fully open throughout.\",\n \"notes\": \"Gripper evidence confirms no closing or grasping occurred in any segment; motion is purely translational/rotational contact-based manipulation. Segment boundaries align with natural phase transitions in door-closing dynamics.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach fridge door", + "start": 0, + "end": 3, + "planning": "Move end-effector toward the open fridge door to prepare for contact." + }, + { + "id": 2, + "name": "make initial contact", + "start": 4, + "end": 7, + "planning": "Establish physical contact with the fridge door using the end-effector without grasping." + }, + { + "id": 3, + "name": "push door closed", + "start": 8, + "end": 24, + "planning": "Apply continuous pushing force to swing the fridge door shut along its hinge axis." + }, + { + "id": 4, + "name": "finalize closure and retreat", + "start": 25, + "end": 34, + "planning": "Complete door closure by ensuring full seal, then retract end-effector away from the fridge." + } + ], + "global_plan": "Close the fridge door by approaching, making contact, pushing it shut, and retreating — all without grasping, as gripper remains fully open throughout.", + "notes": "Gripper evidence confirms no closing or grasping occurred in any segment; motion is purely translational/rotational contact-based manipulation. Segment boundaries align with natural phase transitions in door-closing dynamics." + } + }, + "episode_goal": "Close the fridge door.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.1525615006685257, + -0.016956742852926254, + 0.17721600830554962, + -3.0529980659484863, + -0.12593534588813782, + -0.03199772164225578 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open fridge door with the gripper fully open and no contact made yet. No actions have been completed in this subtask. The next step is to move closer to the fridge door to prepare for pushing it shut." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.15069516003131866, + -0.017267080023884773, + 0.174282044172287, + -3.0561683177948, + -0.1150384247303009, + -0.02543875388801098 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open fridge door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion observed but no grasping or pushing initiated. The next action should continue moving the end-effector closer to the door surface to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open; then move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.15864773094654083, + -0.024988912045955658, + 0.1820887327194214, + -3.0826327800750732, + -0.08600664138793945, + 0.010073124431073666 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open fridge door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion observed but no grasping or pushing initiated. The next action should continue moving the end-effector closer to the door surface to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 3 cm, keep gripper open; then move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 4 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.16328130662441254, + -0.03265869617462158, + 0.2000260353088379, + -3.110891103744507, + -0.09112489968538284, + 0.018789179623126984 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "approach fridge door", + "subtask_reasoning": "The robot is positioned near the open fridge door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion observed but no grasping or pushing initiated. The next action should continue moving the end-effector closer to the door surface to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 1 cm, keep gripper open; then move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.16338901221752167, + -0.041902780532836914, + 0.2134544551372528, + 3.1334011554718018, + -0.09472472965717316, + -0.0018378845416009426 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "make initial contact", + "subtask_reasoning": "The robot is positioned near the open fridge door with the gripper fully open and no contact made yet. The subtask of approaching the fridge door is in progress, with motion observed but no grasping or pushing initiated. The next action should continue moving the end-effector closer to the door surface to prepare for contact." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 5 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.15867938101291656, + -0.05384007841348648, + 0.22166328132152557, + 3.0933587551116943, + -0.0949687510728836, + -0.03930460661649704 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "make initial contact", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 5 cm, move left 5 cm, move up 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.15422697365283966, + -0.0626634731888771, + 0.22666727006435394, + 3.0727367401123047, + -0.08647416532039642, + -0.08435747027397156 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "make initial contact", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 3 cm, move left 3 cm, move up 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.15269970893859863, + -0.0712079107761383, + 0.2254224568605423, + 3.0723395347595215, + -0.09483086317777634, + -0.1138378381729126 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "make initial contact", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, tilt left 10 degrees, keep gripper open; then move forward 2 cm, move left 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.15214787423610687, + -0.0733049139380455, + 0.21007376909255981, + -3.1036441326141357, + -0.09114492684602737, + -0.15381355583667755 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, tilt left 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.15468387305736542, + -0.0691649317741394, + 0.20698437094688416, + -3.05991530418396, + -0.12414226680994034, + -0.1618189811706543 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.16103576123714447, + -0.059677090495824814, + 0.20672960579395294, + -3.05313777923584, + -0.1306605339050293, + -0.1434488445520401 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.17111583054065704, + -0.04873819276690483, + 0.21228571236133575, + -3.073732852935791, + -0.12499746680259705, + -0.1137036457657814 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.18770290911197662, + -0.035613641142845154, + 0.21989265084266663, + -3.0747854709625244, + -0.13134057819843292, + -0.059502895921468735 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "caster wheel": [ + 2, + 890, + 120, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.19999973475933075, + -0.026461763307452202, + 0.2221226692199707, + -3.0687057971954346, + -0.13928581774234772, + -0.01617463119328022 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2077389508485794, + -0.02316969260573387, + 0.22472330927848816, + -3.049736261367798, + -0.14863239228725433, + 0.02119312435388565 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2063589245080948, + -0.026688294485211372, + 0.22774462401866913, + -3.009300470352173, + -0.17910540103912354, + 0.026213698089122772 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot has approached the open fridge door and is now positioned near the top edge. The gripper remains fully open with no closing evidence, indicating contact is being made without grasping. The next action is to push the door shut by applying forward force while maintaining the open gripper state." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 9 cm, tilt right 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.18493801355361938, + -0.04424063488841057, + 0.22976653277873993, + -3.0309882164001465, + -0.18859441578388214, + -0.04206295311450958 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 5 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.16748318076133728, + -0.059835586696863174, + 0.2255055457353592, + -3.0380606651306152, + -0.1778162717819214, + -0.09182009100914001 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 9 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 3 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.16439500451087952, + -0.0583588145673275, + 0.19914524257183075, + -3.01106333732605, + -0.161222442984581, + -0.08512452989816666 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 7 cm, move down 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 4 cm, move left 2 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.16494669020175934, + -0.04590539261698723, + 0.169864222407341, + -3.034320116043091, + -0.1649409979581833, + -0.011901835910975933 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 5 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move forward 5 cm, move left 2 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.1643824428319931, + -0.038312338292598724, + 0.15886494517326355, + -3.0496087074279785, + -0.17866915464401245, + 0.019355254247784615 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 6 cm, move left 3 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.1665283441543579, + -0.03071787767112255, + 0.15312181413173676, + -3.1134772300720215, + -0.19598965346813202, + 0.08139891922473907 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 4 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.1721714287996292, + -0.01939842663705349, + 0.14783267676830292, + -3.1253914833068848, + -0.22101420164108276, + 0.11385384202003479 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 3 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 9 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.18140023946762085, + -0.00876080896705389, + 0.14573374390602112, + -3.1270859241485596, + -0.24719750881195068, + 0.154913067817688 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 9 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.19243760406970978, + 0.0006581471534445882, + 0.1408442109823227, + -3.126213312149048, + -0.26550617814064026, + 0.2072681337594986 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "push door closed", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, keep gripper open; then move forward 10 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.20888710021972656, + 0.006670727860182524, + 0.140425443649292, + 3.141345500946045, + -0.29949072003364563, + 0.24782219529151917 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.22284694015979767, + 0.01195027120411396, + 0.1342736780643463, + 3.1221835613250732, + -0.31263089179992676, + 0.28186044096946716 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 9 cm, move left 5 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.23744890093803406, + 0.01713603176176548, + 0.13372869789600372, + 3.098039150238037, + -0.35472217202186584, + 0.3082900047302246 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.24990953505039215, + 0.022327926009893417, + 0.13173159956932068, + 3.092801094055176, + -0.37531596422195435, + 0.32309404015541077 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot is in contact with the fridge door, which is partially open. The gripper remains fully open, indicating no grasping has occurred. The next action is to continue pushing the door forward to close it completely." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.2625575363636017, + 0.029522184282541275, + 0.13074228167533875, + 3.0824618339538574, + -0.39510130882263184, + 0.35554054379463196 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the fridge door, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply final pressure to ensure the door latches and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2738199234008789, + 0.03795090690255165, + 0.12992249429225922, + 3.082402467727661, + -0.3960950970649719, + 0.3744126260280609 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the fridge door, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply final pressure to ensure the door latches and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.282985657453537, + 0.04485933482646942, + 0.12879225611686707, + 3.084562301635742, + -0.39805689454078674, + 0.38963666558265686 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the fridge door, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply final pressure to ensure the door latches and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952972948551178, + 0.05438539758324623, + 0.13145537674427032, + 3.07365083694458, + -0.4142439365386963, + 0.42099347710609436 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "caster wheel": [ + 1, + 911, + 57, + 995 + ], + "ice dispenser": [ + 486, + 159, + 795, + 595 + ] + } + } + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the fridge door, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply final pressure to ensure the door latches and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29920268058776855, + 0.05744028836488724, + 0.13008902966976166, + 3.075362205505371, + -0.41687828302383423, + 0.43518900871276855 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the fridge door, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply final pressure to ensure the door latches and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.3078716993331909, + 0.061290450394153595, + 0.1311897486448288, + 3.0699760913848877, + -0.42684808373451233, + 0.4488143026828766 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Close the fridge door." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach fridge door" + }, + { + "id": 2, + "subtask": "make initial contact" + }, + { + "id": 3, + "subtask": "push door closed" + }, + { + "id": 4, + "subtask": "finalize closure and retreat" + } + ], + "subtask_name": "finalize closure and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the fridge door, which is nearly closed. The gripper remains fully open, indicating a pushing action rather than grasping. The next step is to apply final pressure to ensure the door latches and then retreat." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 29 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 25, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001042_ecot.json b/cot/chunk-0001/episode_0001042_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e45b7b15b44f3d80431492d54d8e22b24e7e41d9 --- /dev/null +++ b/cot/chunk-0001/episode_0001042_ecot.json @@ -0,0 +1,2086 @@ +{ + "task_name": "episode_0001042", + "episode_json": "json/chunk-0001/episode_0001042.json", + "video_path": "videos/chunk-0001/image_0/episode_0001042.mp4", + "instruction": "Moves the object from the bottom of the table into the pot.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 35, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001042.json" + }, + "fps": 5.0, + "T_eff": 35, + "gripper_behavior_summary": { + "available": true, + "range": 0.42665624618530273, + "std": 0.17349311709403992, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42666, std=0.17349, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 15 + ], + [ + 3, + 16, + 34 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach object\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector from initial position toward the sushi-like object on the table without grasping.\"},\n {\"id\": 2, \"name\": \"grasp and lift object\", \"start\": 4, \"end\": 15, \"planning\": \"Close gripper to grasp the object, then lift it slightly off the table surface while maintaining hold.\"},\n {\"id\": 3, \"name\": \"transport and release into pot\", \"start\": 16, \"end\": 34, \"planning\": \"Carry the grasped object over the metal pot and release it inside by opening the gripper.\"}\n ],\n \"global_plan\": \"The robot approaches the object at the bottom of the table, grasps and lifts it, then transports and releases it into the pot.\",\n \"notes\": \"Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing (delta=-0.40992) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.41591) consistent with releasing into pot. All subtasks are contiguous and cover full trajectory [0,34].\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach object", + "start": 0, + "end": 3, + "planning": "Move the end-effector from initial position toward the sushi-like object on the table without grasping." + }, + { + "id": 2, + "name": "grasp and lift object", + "start": 4, + "end": 15, + "planning": "Close gripper to grasp the object, then lift it slightly off the table surface while maintaining hold." + }, + { + "id": 3, + "name": "transport and release into pot", + "start": 16, + "end": 34, + "planning": "Carry the grasped object over the metal pot and release it inside by opening the gripper." + } + ], + "global_plan": "The robot approaches the object at the bottom of the table, grasps and lifts it, then transports and releases it into the pot.", + "notes": "Segment 1 shows no gripper closure — only approach motion. Segment 2 shows meaningful gripper closing (delta=-0.40992) consistent with grasping. Segment 3 shows gripper reopening (delta=+0.41591) consistent with releasing into pot. All subtasks are contiguous and cover full trajectory [0,34]." + } + }, + "episode_goal": "Pick up the white object from the bottom of the table and place it into the metal pot.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.30132389068603516, + 0.03839202970266342, + 0.16120673716068268, + 3.0932557582855225, + -0.13739733397960663, + -0.034667618572711945 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot is positioned above the table with the gripper open, approaching the white object located near the bottom edge. No contact or grasping has occurred yet. The next action should be to lower and move the gripper closer to the object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move down 11 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29812633991241455, + 0.03648863732814789, + 0.1491893082857132, + 3.0763351917266846, + -0.10621519386768341, + -0.044582948088645935 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 3 cm, move down 2 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 2 cm, move down 11 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2634117007255554, + 0.04362858831882477, + 0.14021100103855133, + 3.0195980072021484, + -0.2017981857061386, + -0.13092009723186493 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, keep gripper open; then move left 2 cm, move down 12 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.24083834886550903, + 0.04720254987478256, + 0.14310121536254883, + 3.1018083095550537, + -0.2656601369380951, + -0.20274655520915985 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 322, + 258, + 575, + 492 + ], + "wooden countertop": [ + 10, + 229, + 884, + 983 + ], + "white object": [ + 244, + 492, + 365, + 640 + ], + "metal measuring cup": [ + 544, + 370, + 773, + 710 + ], + "metal bowl": [ + 545, + 371, + 773, + 706 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "approach object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move left 2 cm, move down 12 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.22958119213581085, + 0.06530427932739258, + 0.128320574760437, + -3.1265318393707275, + -0.2444450855255127, + -0.19796760380268097 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 12 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23414210975170135, + 0.07740587741136551, + 0.11128133535385132, + -3.0904409885406494, + -0.1936785727739334, + -0.18329809606075287 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 9 cm, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2357950657606125, + 0.0893215611577034, + 0.09648637473583221, + -3.045856475830078, + -0.13977310061454773, + -0.17585062980651855 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.23664459586143494, + 0.09639763832092285, + 0.07563924789428711, + -3.05652117729187, + -0.11578581482172012, + -0.15167297422885895 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move forward 2 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23616330325603485, + 0.09821727126836777, + 0.05660140886902809, + -3.0639638900756836, + -0.08155633509159088, + -0.14171838760375977 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned above the table, approaching the white object located near the bottom edge. No grasping has occurred yet as the gripper remains open. The next action should involve moving the end-effector closer to the white object to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 1 cm, tilt right 10 degrees, close gripper; then move forward 3 cm, move right 6 cm, move up 8 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.2280370593070984, + 0.09462494403123856, + 0.038138873875141144, + -3.085963487625122, + -0.04830462113022804, + -0.1344236582517624 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, close gripper; then move forward 5 cm, move right 10 cm, move up 7 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2227202206850052, + 0.08897414803504944, + 0.022204341366887093, + -3.116039752960205, + -0.03850650414824486, + -0.12001808732748032 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move up 3 cm, close gripper; then move forward 6 cm, move right 13 cm, move up 5 cm, tilt back 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.22593562304973602, + 0.08565069735050201, + 0.013443824835121632, + -3.1095030307769775, + -0.05771524831652641, + -0.10415603220462799 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move up 3 cm, close gripper; then move forward 6 cm, move right 13 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.23171086609363556, + 0.08572503179311752, + 0.006349817384034395, + -3.1099627017974854, + -0.06650222092866898, + -0.09002307802438736 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 326, + 258, + 576, + 493 + ], + "wooden countertop": [ + 10, + 194, + 885, + 987 + ], + "metal measuring cup": [ + 545, + 372, + 773, + 712 + ], + "metal bowl": [ + 545, + 373, + 773, + 709 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 4 cm, keep gripper closed; then move forward 6 cm, move right 12 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2405197024345398, + 0.08729863166809082, + 0.006222572177648544, + -3.115431547164917, + -0.07930351048707962, + -0.08447713404893875 + ], + "gripper_value": 0.9865638017654419 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper closed; then move forward 6 cm, move right 11 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.24220041930675507, + 0.08781126141548157, + 0.006290231831371784, + -3.111605405807495, + -0.0825938880443573, + -0.08860501646995544 + ], + "gripper_value": 0.7081608176231384 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move up 4 cm, keep gripper closed; then move forward 6 cm, move right 11 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.24097396433353424, + 0.08070666342973709, + 0.019031813368201256, + -3.113377332687378, + -0.0835207849740982, + -0.11738903075456619 + ], + "gripper_value": 0.590900182723999 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "grasp and lift object", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 6 cm, move right 11 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.2426835000514984, + 0.07084381580352783, + 0.047225259244441986, + 3.102877140045166, + -0.10675392299890518, + -0.07599828392267227 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 11 cm, move up 3 cm, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25891032814979553, + 0.05280277505517006, + 0.09887679666280746, + 3.1030702590942383, + -0.2062893956899643, + -0.0010990689042955637 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2728995084762573, + 0.014146252535283566, + 0.12272725999355316, + 3.072493076324463, + -0.23373056948184967, + -0.00015924494073260576 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2926984429359436, + -0.030060991644859314, + 0.11476287245750427, + 3.0817489624023438, + -0.2234174609184265, + -0.021788910031318665 + ], + "gripper_value": 0.58391273021698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.30146297812461853, + -0.05572258308529854, + 0.0957232266664505, + 3.11095929145813, + -0.208140566945076, + 0.0005261657643131912 + ], + "gripper_value": 0.5849101543426514 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden countertop": [ + 10, + 188, + 886, + 987 + ], + "orange cloth": [ + 320, + 260, + 540, + 493 + ], + "metal measuring cup": [ + 543, + 413, + 773, + 708 + ], + "blue spoon": [ + 152, + 332, + 291, + 498 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move up 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3026781380176544, + -0.06051646173000336, + 0.07026492804288864, + 3.0969364643096924, + -0.18830767273902893, + -9.034633876581211e-07 + ], + "gripper_value": 0.58391273021698 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, move up 3 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.30550679564476013, + -0.04796791076660156, + 0.05156539008021355, + 3.107091188430786, + -0.16697192192077637, + 0.008336134254932404 + ], + "gripper_value": 0.6370214223861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 5 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.301774263381958, + -0.039572834968566895, + 0.04291003197431564, + 3.1178135871887207, + -0.11920454353094101, + -0.0013384964549914002 + ], + "gripper_value": 0.9343546032905579 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3024027347564697, + -0.04063534364104271, + 0.04303160682320595, + 3.1055047512054443, + -0.1225314810872078, + -0.00025408194051124156 + ], + "gripper_value": 1.0105689764022827 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot's end-effector is positioned directly above the white object at the bottom of the table, with the gripper open and ready. The approach phase is complete, and the robot is now in position to execute the grasp. The next action is to close the gripper to secure the object before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.30249980092048645, + -0.044001881033182144, + 0.047300443053245544, + 3.0856680870056152, + -0.13231217861175537, + -0.01846127398312092 + ], + "gripper_value": 1.0047606229782104 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 6 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30104780197143555, + -0.03455484285950661, + 0.07890371233224869, + 3.078735589981079, + -0.19330599904060364, + -0.01442359946668148 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 10 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.29066741466522217, + -0.0037834355607628822, + 0.10824398696422577, + 3.0803492069244385, + -0.22580984234809875, + 0.03453003242611885 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 7 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.27866703271865845, + 0.033211901783943176, + 0.1152128353714943, + 3.099224090576172, + -0.21391227841377258, + 0.015382799319922924 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange cloth": [ + 321, + 258, + 575, + 493 + ], + "wooden countertop": [ + 10, + 187, + 885, + 981 + ], + "metal bowl": [ + 543, + 372, + 771, + 710 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 3 cm, move down 1 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.27555322647094727, + 0.04222428798675537, + 0.1103924810886383, + 3.1088290214538574, + -0.19464656710624695, + -0.04408225044608116 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.2710827887058258, + 0.04954592138528824, + 0.10436588525772095, + 3.115739345550537, + -0.15801511704921722, + -0.06872984766960144 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.26481905579566956, + 0.06224187836050987, + 0.10290347039699554, + 3.1039748191833496, + -0.10015737265348434, + -0.0804324522614479 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.26363930106163025, + 0.06295838952064514, + 0.10281491279602051, + 3.103417158126831, + -0.094179667532444, + -0.08296088874340057 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.26408854126930237, + 0.06286367028951645, + 0.10319814831018448, + 3.102787971496582, + -0.09616527706384659, + -0.08379571884870529 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.2637932598590851, + 0.06299231946468353, + 0.10316502302885056, + 3.1035170555114746, + -0.0942598357796669, + -0.0846056416630745 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the white object from the bottom of the table and place it into the metal pot." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach object" + }, + { + "id": 2, + "subtask": "grasp and lift object" + }, + { + "id": 3, + "subtask": "transport and release into pot" + } + ], + "subtask_name": "transport and release into pot", + "subtask_reasoning": "The robot is currently holding the white object above the metal pot, having completed the approach and lift phases. The gripper remains closed, indicating the object is securely grasped during transport. The next action is to lower the object into the pot and release it by opening the gripper." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 34 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 34 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001043_ecot.json b/cot/chunk-0001/episode_0001043_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b81d6fdf297ed8566f674af11c7ce22574d3c0c8 --- /dev/null +++ b/cot/chunk-0001/episode_0001043_ecot.json @@ -0,0 +1,5747 @@ +{ + "task_name": "episode_0001043", + "episode_json": "json/chunk-0001/episode_0001043.json", + "video_path": "videos/chunk-0001/image_0/episode_0001043.mp4", + "instruction": "Sweep into pile.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 76, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001043.json" + }, + "fps": 5.0, + "T_eff": 76, + "gripper_behavior_summary": { + "available": true, + "range": 0.6065454483032227, + "std": 0.18966318666934967, + "delta_total": -0.014982223510742188, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.60655, std=0.18966, total_delta=-0.01498). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 500, + 500, + 500, + 500, + 500, + 500, + 500, + 508, + 508, + 608, + 608, + 608, + 608, + 608, + 608, + 608, + 608, + 308, + 308, + 308, + 308, + 308, + 308, + 308, + 308, + 308, + 308, + 308, + 308, + 408, + 408, + 408, + 408, + 408, + 408, + 408, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 108, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 208, + 8, + 8, + 8, + 8, + 8, + 8, + 8, + 74, + 74 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 7 + ], + [ + 3, + 8, + 9 + ], + [ + 4, + 10, + 17 + ], + [ + 5, + 18, + 29 + ], + [ + 6, + 30, + 36 + ], + [ + 7, + 37, + 51 + ], + [ + 8, + 52, + 66 + ], + [ + 9, + 67, + 73 + ], + [ + 10, + 74, + 75 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach and align with pusher\", \"start\": 0, \"end\": 9, \"planning\": \"Move the end-effector down and orient the gripper to align the pusher tool near the scattered beans.\"},\n {\"id\": 2, \"name\": \"initiate contact and begin sweeping\", \"start\": 10, \"end\": 17, \"planning\": \"Lower the pusher to make contact with the table surface and start moving laterally to gather beans.\"},\n {\"id\": 3, \"name\": \"sweep beans toward pile\", \"start\": 18, \"end\": 36, \"planning\": \"Continue pushing the beans in a controlled arc to consolidate them into a growing pile.\"},\n {\"id\": 4, \"name\": \"refine pile shape with lateral sweeps\", \"start\": 37, \"end\": 51, \"planning\": \"Adjust the pusher angle and sweep direction to tighten the pile and capture stray beans.\"},\n {\"id\": 5, \"name\": \"final consolidation pass\", \"start\": 52, \"end\": 66, \"planning\": \"Execute a final sweeping motion to ensure all loose beans are incorporated into the main pile.\"},\n {\"id\": 6, \"name\": \"retract and release contact\", \"start\": 67, \"end\": 73, \"planning\": \"Lift the pusher slightly and retreat from the pile while maintaining gripper openness.\"},\n {\"id\": 7, \"name\": \"open gripper fully and disengage\", \"start\": 74, \"end\": 75, \"planning\": \"Fully open the gripper to ensure no residual contact or pressure on the pusher tool before ending the task.\"}\n ],\n \"global_plan\": \"The robot uses a fixed pusher tool attached to its gripper to sweep scattered beans into a consolidated pile through a sequence of aligned approaches, contact-based sweeping motions, and final retraction with full gripper opening.\",\n \"notes\": \"No grasping occurs — the gripper remains open throughout except for the final frames where it opens further; all manipulation is via pushing/contact. Segment 10’s gripper opening is consistent with releasing any incidental pressure, not grasping.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach and align with pusher", + "start": 0, + "end": 9, + "planning": "Move the end-effector down and orient the gripper to align the pusher tool near the scattered beans." + }, + { + "id": 2, + "name": "initiate contact and begin sweeping", + "start": 10, + "end": 17, + "planning": "Lower the pusher to make contact with the table surface and start moving laterally to gather beans." + }, + { + "id": 3, + "name": "sweep beans toward pile", + "start": 18, + "end": 36, + "planning": "Continue pushing the beans in a controlled arc to consolidate them into a growing pile." + }, + { + "id": 4, + "name": "refine pile shape with lateral sweeps", + "start": 37, + "end": 51, + "planning": "Adjust the pusher angle and sweep direction to tighten the pile and capture stray beans." + }, + { + "id": 5, + "name": "final consolidation pass", + "start": 52, + "end": 66, + "planning": "Execute a final sweeping motion to ensure all loose beans are incorporated into the main pile." + }, + { + "id": 6, + "name": "retract and release contact", + "start": 67, + "end": 73, + "planning": "Lift the pusher slightly and retreat from the pile while maintaining gripper openness." + }, + { + "id": 7, + "name": "open gripper fully and disengage", + "start": 74, + "end": 75, + "planning": "Fully open the gripper to ensure no residual contact or pressure on the pusher tool before ending the task." + } + ], + "global_plan": "The robot uses a fixed pusher tool attached to its gripper to sweep scattered beans into a consolidated pile through a sequence of aligned approaches, contact-based sweeping motions, and final retraction with full gripper opening.", + "notes": "No grasping occurs — the gripper remains open throughout except for the final frames where it opens further; all manipulation is via pushing/contact. Segment 10’s gripper opening is consistent with releasing any incidental pressure, not grasping." + } + }, + "episode_goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3680083453655243, + -0.019009774550795555, + 0.07240015268325806, + -2.8722164630889893, + -0.07635792344808578, + 0.1844562590122223 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet, and the gripper is fully open. The next action is to lower the pusher into contact with the beans to begin the sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 6 cm, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3636554479598999, + -0.018948109820485115, + 0.05644475668668747, + -2.860224723815918, + -0.031201686710119247, + 0.1838492751121521 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet, and the gripper is fully open. The next action is to lower the pusher into contact with the beans to begin the sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 1 cm, move down 5 cm, rotate counterclockwise 10 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3567087948322296, + -0.02041875757277012, + 0.04701564088463783, + -2.871448516845703, + -0.0028422237373888493, + 0.14866913855075836 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet, and the gripper is fully open. The next action is to lower the pusher into contact with the beans to begin the sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 4 cm, rotate counterclockwise 10 degrees, close gripper; then move back 3 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3543497920036316, + -0.02449389360845089, + 0.04155675694346428, + -2.87365460395813, + 0.0035887223202735186, + 0.09383499622344971 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet, and the gripper is fully open. The next action is to lower the pusher into contact with the beans to begin the sweeping motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, close gripper; then move back 4 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3459605276584625, + -0.03147818520665169, + 0.03169024735689163, + -2.866636037826538, + 0.015352761372923851, + 0.06228479743003845 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 6, + 118, + 933, + 988 + ], + "yellow can": [ + 748, + 97, + 894, + 303 + ], + "white toaster": [ + 282, + 2, + 686, + 243 + ], + "toy stove": [ + 787, + 164, + 995, + 991 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, close gripper; then move back 5 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3384367525577545, + -0.03224032372236252, + 0.021602053195238113, + -2.879486083984375, + 0.021535420790314674, + 0.07308248430490494 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper closed; then move back 6 cm, move left 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353789448738098, + -0.034493785351514816, + 0.014457236975431442, + -2.8944289684295654, + 0.0066019147634506226, + 0.08992354571819305 + ], + "gripper_value": 0.9687211513519287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "rotate counterclockwise 10 degrees, keep gripper closed; then move back 6 cm, move left 3 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3387320041656494, + -0.037805911153554916, + 0.013923062942922115, + -2.917083501815796, + -0.004773425869643688, + 0.05961906537413597 + ], + "gripper_value": 0.7931879758834839 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper closed; then move back 6 cm, move left 5 cm, move down 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3415396511554718, + -0.0348728783428669, + 0.011916758492588997, + -2.914642095565796, + -0.025167666375637054, + 0.03645658120512962 + ], + "gripper_value": 0.48704639077186584 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 5 cm, move left 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.34061399102211, + -0.03383271396160126, + 0.011427022516727448, + -2.91379976272583, + -0.02932748943567276, + 0.03132712095975876 + ], + "gripper_value": 0.400628000497818 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "approach and align with pusher", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 5 cm, move left 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33287322521209717, + -0.03182508051395416, + 0.01028879452496767, + -2.928870439529419, + -0.028567951172590256, + -0.014224430546164513 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 10 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.32038724422454834, + -0.02738696150481701, + 0.00789483729749918, + -2.9512670040130615, + -0.025405149906873703, + -0.07672680914402008 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 9 cm, keep gripper closed; then move forward 1 cm, move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3059486150741577, + -0.023620599880814552, + 0.007532012183219194, + -2.9435172080993652, + -0.023088909685611725, + -0.11266686022281647 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot is positioned above the wooden surface with the pusher tool aligned near the scattered coffee beans. No sweeping has occurred yet; the gripper remains open. The next action is to lower and advance the pusher to make contact with the beans for sweeping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, keep gripper closed; then move forward 1 cm, move left 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.29630783200263977, + -0.022071978077292442, + 0.005781957414001226, + -2.9534502029418945, + -0.036838315427303314, + -0.1449362188577652 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, keep gripper closed; then move forward 2 cm, move left 6 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.2875474691390991, + -0.0192200168967247, + 0.006047005765140057, + -2.9607551097869873, + -0.04782991483807564, + -0.17317429184913635 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 8 cm, keep gripper closed; then move forward 2 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.2706478238105774, + -0.011486848816275597, + 0.005311638582497835, + -2.9543538093566895, + -0.046718671917915344, + -0.19356569647789001 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 8 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.27181634306907654, + 0.002801419235765934, + 0.0050068143755197525, + -2.9524881839752197, + -0.07578679919242859, + -0.18697009980678558 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 6 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.27610689401626587, + 0.017749793827533722, + 0.004832631442695856, + -2.9398984909057617, + -0.09293404221534729, + -0.1960866004228592 + ], + "gripper_value": 0.39974725246429443 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "initiate contact and begin sweeping", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, keep gripper closed; then move forward 2 cm, move left 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 10, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.28012728691101074, + 0.06397544592618942, + 0.0037522611673921347, + -2.9043684005737305, + -0.07599631696939468, + -0.14424245059490204 + ], + "gripper_value": 0.39886748790740967 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white toaster": [ + 456, + 2, + 685, + 231 + ], + "black beans": [ + 213, + 265, + 353, + 547 + ], + "wooden table": [ + 5, + 71, + 939, + 985 + ], + "yellow can": [ + 749, + 98, + 892, + 303 + ], + "toy stove": [ + 753, + 164, + 995, + 992 + ], + "red can": [ + 643, + 14, + 783, + 264 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.2841912508010864, + 0.08061238378286362, + 0.003992925863713026, + -2.8945529460906982, + -0.07259108126163483, + -0.14670199155807495 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "wooden table": [ + 4, + 153, + 935, + 989 + ], + "yellow can": [ + 749, + 98, + 892, + 303 + ], + "white toaster": [ + 359, + 3, + 685, + 231 + ], + "toy stove": [ + 753, + 165, + 995, + 992 + ], + "red can": [ + 643, + 14, + 783, + 263 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.28662315011024475, + 0.08612043410539627, + 0.004590673837810755, + -2.8878424167633057, + -0.0765533447265625, + -0.1623038500547409 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2889808118343353, + 0.09440050274133682, + 0.0046310387551784515, + -2.876042366027832, + -0.07845883071422577, + -0.17157311737537384 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 4 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.29250144958496094, + 0.10666920989751816, + 0.0037302651908248663, + -2.8651511669158936, + -0.07480155676603317, + -0.170150026679039 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 7 cm, move up 1 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.29736384749412537, + 0.12181957066059113, + 0.003616694360971451, + -2.8528878688812256, + -0.08094316720962524, + -0.1464090198278427 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. The gripper remains open and stable, indicating no grasping action. The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.29999780654907227, + 0.1308966726064682, + 0.0038456630427390337, + -2.843125104904175, + -0.07641396671533585, + -0.13008715212345123 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. 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The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 12 cm, move up 1 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3023829162120819, + 0.1416202336549759, + 0.0038351428229361773, + -2.8411877155303955, + -0.07209570705890656, + -0.10663728415966034 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. 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The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 13 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30283141136169434, + 0.14265316724777222, + 0.0036564525216817856, + -2.842491626739502, + -0.07202864438295364, + -0.10378608852624893 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot has aligned the pusher tool with the scattered coffee beans and is now in contact with the surface. 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The next step is to execute a forward sweeping motion to begin consolidating the beans into a pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 12 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.30355915427207947, + 0.14122150838375092, + 0.003423728747293353, + -2.8482465744018555, + -0.07498648017644882, + -0.10839956998825073 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot's pusher tool is in contact with the wooden surface, positioned to sweep scattered coffee beans. The gripper remains open and stable, consistent with a contact-based sweeping motion rather than grasping. The next action is to continue pushing the beans toward the target pile location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 11 cm, tilt forward 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.30172258615493774, + 0.13103452324867249, + 0.0039520710706710815, + -2.870278835296631, + -0.08920925855636597, + -0.12560471892356873 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot's pusher tool is in contact with the wooden surface, positioned to sweep scattered coffee beans. 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The next action is to continue pushing the beans toward the target pile location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 5 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.29448726773262024, + 0.017931455746293068, + 0.011722280643880367, + -3.022883653640747, + 0.009334450587630272, + -0.09806305915117264 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot's pusher tool is in contact with the wooden surface, positioned to sweep scattered coffee beans. The gripper remains open and stable, consistent with a contact-based sweeping motion rather than grasping. The next action is to continue pushing the beans toward the target pile location." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 2 cm, rotate clockwise 20 degrees, keep gripper closed; then move forward 6 cm, move left 5 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.30968618392944336, + 0.01065205130726099, + 0.009975412860512733, + -2.9747416973114014, + 0.0011187734780833125, + -0.011200342327356339 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "sweep beans toward pile", + "subtask_reasoning": "The robot's pusher tool is in contact with the wooden surface, positioned to sweep scattered coffee beans. The gripper remains open and stable, consistent with a contact-based sweeping motion rather than grasping. 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The next action is to continue the sweeping motion to fully gather the scattered beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 6 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 66 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 52, + "end": 66 + } + }, + { + "t": 60, + "state_action_evidence": { + "ee_state_6d": [ + 0.3405427932739258, + 0.15510714054107666, + 0.007878298871219158, + -3.106088399887085, + -0.07881313562393188, + 1.0160579681396484 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "final consolidation pass", + "subtask_reasoning": "The robot's pusher tool is in contact with the coffee beans on the wooden surface, actively sweeping them into a consolidated pile. 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The next action is to continue the sweeping motion to fully gather the scattered beans into a compact pile." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 1 cm, move down 3 cm, rotate counterclockwise 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 73 + }, + "cache_ref": { + "anchor_ref_reasoning": 59 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 67, + "end": 73 + } + }, + { + "t": 70, + "state_action_evidence": { + "ee_state_6d": [ + 0.3631323277950287, + -0.0020795201417058706, + 0.026103993877768517, + -2.8747966289520264, + -0.1372363120317459, + 0.07135089486837387 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white toaster": [ + 284, + 2, + 554, + 216 + ], + "wooden table": [ + 5, + 115, + 933, + 990 + ], + "black beans": [ + 151, + 250, + 300, + 492 + ], + "yellow can": [ + 749, + 98, + 892, + 303 + ], + "red can": [ + 643, + 13, + 784, + 263 + ] + } + } + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "retract and release contact", + "subtask_reasoning": "The robot has completed the sweeping motion and is now retracting the pusher tool away from the consolidated pile of coffee beans. 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The next action is to fully release the tool or prepare for the next sweep cycle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 2 cm, move down 1 cm, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 73 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 6, + "start": 67, + "end": 73 + } + }, + { + "t": 71, + "state_action_evidence": { + "ee_state_6d": [ + 0.35556626319885254, + -0.009898696094751358, + 0.016136888414621353, + -2.836461067199707, + -0.12139308452606201, + -0.008101997897028923 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "retract and release contact", + "subtask_reasoning": "The robot has completed the sweeping motion and is now retracting the pusher tool away from the consolidated pile of coffee beans. 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The next action is to fully release the tool or prepare for the next sweep cycle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 73 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 67, + "end": 73 + } + }, + { + "t": 72, + "state_action_evidence": { + "ee_state_6d": [ + 0.35433048009872437, + -0.007574364542961121, + 0.014373899437487125, + -2.845162868499756, + -0.11280057579278946, + -0.015914326533675194 + ], + "gripper_value": 0.39448216557502747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "retract and release contact", + "subtask_reasoning": "The robot has completed the sweeping motion and is now retracting the pusher tool away from the consolidated pile of coffee beans. 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The next action is to fully release the tool or prepare for the next sweep cycle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 73 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 67, + "end": 73 + } + }, + { + "t": 73, + "state_action_evidence": { + "ee_state_6d": [ + 0.35088470578193665, + 0.0020727708470076323, + 0.013016480021178722, + -2.880173444747925, + -0.08345305919647217, + 0.021238889545202255 + ], + "gripper_value": 0.4550158977508545 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "retract and release contact", + "subtask_reasoning": "The robot has completed the sweeping motion and is now retracting the pusher tool away from the consolidated pile of coffee beans. The gripper remains closed around the tool during retraction, maintaining contact. The next action is to fully release the tool or prepare for the next sweep cycle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 73 + }, + "cache_ref": { + "anchor_ref_reasoning": 70 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 6, + "start": 67, + "end": 73 + } + }, + { + "t": 74, + "state_action_evidence": { + "ee_state_6d": [ + 0.34565970301628113, + 0.013863562606275082, + 0.014231395907700062, + -2.9438390731811523, + -0.02412566728889942, + 0.016433820128440857 + ], + "gripper_value": 0.7359045147895813 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "open gripper fully and disengage", + "subtask_reasoning": "The robot has completed sweeping the coffee beans into a pile and is now positioned above the wooden surface with the pusher tool disengaged. The gripper is partially open (0.73590) and in the process of fully opening to complete the disengagement phase. The next action is to continue opening the gripper to its maximum extent to ensure full release of the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 7, + "start": 74, + "end": 75 + } + }, + { + "t": 75, + "state_action_evidence": { + "ee_state_6d": [ + 0.3450518846511841, + 0.014246244914829731, + 0.04165765643119812, + -2.974609851837158, + -0.0493541955947876, + -0.028409797698259354 + ], + "gripper_value": 0.9851709604263306 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Use the gripper to sweep scattered coffee beans into a compact pile on the wooden surface." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach and align with pusher" + }, + { + "id": 2, + "subtask": "initiate contact and begin sweeping" + }, + { + "id": 3, + "subtask": "sweep beans toward pile" + }, + { + "id": 4, + "subtask": "refine pile shape with lateral sweeps" + }, + { + "id": 5, + "subtask": "final consolidation pass" + }, + { + "id": 6, + "subtask": "retract and release contact" + }, + { + "id": 7, + "subtask": "open gripper fully and disengage" + } + ], + "subtask_name": "open gripper fully and disengage", + "subtask_reasoning": "The robot has completed sweeping the coffee beans into a pile and is now positioned above the wooden surface with the pusher tool disengaged. The gripper is partially open (0.73590) and in the process of fully opening to complete the disengagement phase. The next action is to continue opening the gripper to its maximum extent to ensure full release of the pusher tool." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 75 + }, + "cache_ref": { + "anchor_ref_reasoning": 74 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 7, + "start": 74, + "end": 75 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001045_ecot.json b/cot/chunk-0001/episode_0001045_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..049fd36bd97f0b524a4ce40cdf5c09d98b82360f --- /dev/null +++ b/cot/chunk-0001/episode_0001045_ecot.json @@ -0,0 +1,1784 @@ +{ + "task_name": "episode_0001045", + "episode_json": "json/chunk-0001/episode_0001045.json", + "video_path": "videos/chunk-0001/image_0/episode_0001045.mp4", + "instruction": "Slide the blue spoon back towards the microwave.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 25, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001045.json" + }, + "fps": 5.0, + "T_eff": 25, + "gripper_behavior_summary": { + "available": true, + "range": 0.6702762246131897, + "std": 0.31227949261665344, + "delta_total": -0.001324295997619629, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.67028, std=0.31228, total_delta=-0.00132). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 300, + 300, + 300, + 300, + 310, + 110, + 110, + 110, + 110, + 110, + 110, + 110, + 210, + 210, + 210, + 221, + 221, + 221, + 221 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 9 + ], + [ + 3, + 10, + 10 + ], + [ + 4, + 11, + 17 + ], + [ + 5, + 18, + 20 + ], + [ + 6, + 21, + 24 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach spoon\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector toward the blue spoon on the counter without grasping.\"},\n {\"id\": 2, \"name\": \"align and contact spoon\", \"start\": 6, \"end\": 10, \"planning\": \"Position the gripper around the spoon handle and make light contact to prepare for sliding.\"},\n {\"id\": 3, \"name\": \"slide spoon backward\", \"start\": 11, \"end\": 17, \"planning\": \"Push the spoon backward along the counter surface toward the microwave using sustained contact.\"},\n {\"id\": 4, \"name\": \"reposition after slide\", \"start\": 18, \"end\": 20, \"planning\": \"Lift slightly and retreat from the spoon to disengage contact after sliding motion.\"},\n {\"id\": 5, \"name\": \"grasp and lift spoon\", \"start\": 21, \"end\": 24, \"planning\": \"Close gripper to securely grasp the spoon and lift it slightly off the counter for final placement adjustment.\"}\n ],\n \"global_plan\": \"Approach the blue spoon, make contact to slide it backward toward the microwave, then reposition and finally grasp it for precise placement.\",\n \"notes\": \"Segments 1-4 show no meaningful gripper closing; descriptions avoid grasp/pick/hold until Segment 6 where gripper closure is confirmed by both signal range and image evidence. Segment 5 (frames 18-20) is merged as a single repositioning phase based on motion continuity and lack of gripper activity.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach spoon", + "start": 0, + "end": 5, + "planning": "Move the end-effector toward the blue spoon on the counter without grasping." + }, + { + "id": 2, + "name": "align and contact spoon", + "start": 6, + "end": 10, + "planning": "Position the gripper around the spoon handle and make light contact to prepare for sliding." + }, + { + "id": 3, + "name": "slide spoon backward", + "start": 11, + "end": 17, + "planning": "Push the spoon backward along the counter surface toward the microwave using sustained contact." + }, + { + "id": 4, + "name": "reposition after slide", + "start": 18, + "end": 20, + "planning": "Lift slightly and retreat from the spoon to disengage contact after sliding motion." + }, + { + "id": 5, + "name": "grasp and lift spoon", + "start": 21, + "end": 24, + "planning": "Close gripper to securely grasp the spoon and lift it slightly off the counter for final placement adjustment." + } + ], + "global_plan": "Approach the blue spoon, make contact to slide it backward toward the microwave, then reposition and finally grasp it for precise placement.", + "notes": "Segments 1-4 show no meaningful gripper closing; descriptions avoid grasp/pick/hold until Segment 6 where gripper closure is confirmed by both signal range and image evidence. Segment 5 (frames 18-20) is merged as a single repositioning phase based on motion continuity and lack of gripper activity." + } + }, + "episode_goal": "Slide the blue spoon back towards the microwave.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3377799987792969, + 0.03913720324635506, + 0.061032555997371674, + 3.1063766479492188, + -0.11346419900655746, + 0.07337407767772675 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the counter with the blue spoon visible nearby. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the spoon to prepare for sliding it toward the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 12 cm, move down 4 cm, tilt forward 10 degrees, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3334260880947113, + 0.03641107305884361, + 0.04845311492681503, + 3.099731683731079, + -0.07515560835599899, + 0.0780157521367073 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the counter with the blue spoon visible nearby. No contact has been made yet, and the gripper remains open. The next action should involve moving the end effector closer to the spoon to prepare for sliding it toward the microwave." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move down 2 cm, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3142630457878113, + -0.008681929670274258, + 0.04520464316010475, + 3.078554630279541, + -0.06233016774058342, + -0.009539999067783356 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the blue spoon which lies near the microwave. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spoon to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 7 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, close gripper; then rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3007507920265198, + -0.04141909256577492, + 0.04606202617287636, + 3.0764079093933105, + -0.07281158864498138, + -0.0658685564994812 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the blue spoon which lies near the microwave. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spoon to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move down 2 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 3 cm, move left 3 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2812502384185791, + -0.07495301216840744, + 0.04429744556546211, + 3.0988667011260986, + -0.06405125558376312, + -0.13905452191829681 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal pot": [ + 117, + 195, + 335, + 470 + ], + "plastic croissant": [ + 347, + 507, + 503, + 678 + ], + "spoon": [ + 583, + 518, + 669, + 791 + ], + "tomato sauce": [ + 685, + 41, + 785, + 290 + ], + "purple cloth": [ + 59, + 343, + 334, + 526 + ], + "toy stove": [ + 677, + 176, + 996, + 994 + ] + } + } + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the blue spoon which lies near the microwave. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spoon to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, rotate clockwise 20 degrees, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 6 cm, move left 7 cm, move up 4 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27472826838493347, + -0.07798834145069122, + 0.04053409770131111, + 3.1354618072509766, + -0.0473955012857914, + -0.05282484367489815 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "approach spoon", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the blue spoon which lies near the microwave. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spoon to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 9 cm, move left 10 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.26712965965270996, + -0.07788169384002686, + 0.02504054829478264, + -3.121755838394165, + 0.004563493654131889, + 0.12098272144794464 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the blue spoon which lies near the microwave. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spoon to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, rotate clockwise 10 degrees, close gripper; then move forward 11 cm, move left 11 cm, move up 2 cm, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2629842162132263, + -0.07345278561115265, + 0.013121121563017368, + -3.0898194313049316, + 0.015811387449502945, + 0.2656533122062683 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot arm is positioned above the counter, approaching the blue spoon which lies near the microwave. No contact has been made yet, and the gripper remains open. The next action should be to move the end-effector closer to the spoon to initiate sliding." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 12 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.26364293694496155, + -0.07331867516040802, + 0.008271550759673119, + -3.0904221534729004, + 0.011999595910310745, + 0.3231801688671112 + ], + "gripper_value": 0.9445669651031494 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned above it with the gripper open. The current subtask involves aligning the gripper to make contact with the spoon for sliding. The next action should involve lowering the gripper to establish contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 12 cm, move left 14 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.26696982979774475, + -0.07511044293642044, + 0.0064199091866612434, + -3.1088199615478516, + -0.0015042294980958104, + 0.3379843831062317 + ], + "gripper_value": 0.6520930528640747 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned above it with the gripper open. The current subtask involves aligning the gripper to make contact with the spoon for sliding. The next action should involve lowering the gripper to establish contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 12 cm, move left 14 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.27122581005096436, + -0.07689215242862701, + 0.0054823062382638454, + -3.138479709625244, + -0.027404380962252617, + 0.35273003578186035 + ], + "gripper_value": 0.37120094895362854 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "align and contact spoon", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned above it with the gripper open. The current subtask involves aligning the gripper to make contact with the spoon for sliding. The next action should involve lowering the gripper to establish contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 12 cm, move left 14 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2719426155090332, + -0.07656208425760269, + 0.005128389690071344, + 3.1270244121551514, + -0.038852278143167496, + 0.3514360785484314 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "slide spoon backward", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned above it with the gripper open. The current subtask involves aligning the gripper to make contact with the spoon for sliding. The next action should involve lowering the gripper to establish contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 14 cm, move up 1 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.276183545589447, + -0.07375713437795639, + 0.0075219664722681046, + 3.0978832244873047, + -0.032124705612659454, + 0.26156315207481384 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "slide spoon backward", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned above it with the gripper open. The current subtask involves aligning the gripper to make contact with the spoon for sliding. The next action should involve lowering the gripper to establish contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 14 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move back 1 cm, open gripper; then move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.2975171208381653, + -0.04588891938328743, + 0.02886686474084854, + 3.0594482421875, + -0.05619493126869202, + 0.12353643774986267 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "slide spoon backward", + "subtask_reasoning": "The robot has approached the blue spoon and is now positioned above it with the gripper open. The current subtask involves aligning the gripper to make contact with the spoon for sliding. The next action should involve lowering the gripper to establish contact with the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 11 cm, move down 2 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, open gripper; then move back 2 cm, move right 1 cm, move up 3 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3347025513648987, + -0.0042462339624762535, + 0.042544037103652954, + 3.068260669708252, + -0.06510307639837265, + 0.03932696580886841 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plastic croissant": [ + 346, + 508, + 504, + 679 + ], + "metal pot": [ + 117, + 195, + 334, + 469 + ], + "tomato sauce": [ + 637, + 41, + 782, + 298 + ], + "purple cloth": [ + 59, + 342, + 335, + 526 + ], + "toy stove": [ + 677, + 176, + 996, + 993 + ], + "corn": [ + 768, + 129, + 919, + 340 + ] + } + } + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "slide spoon backward", + "subtask_reasoning": "The robot end-effector is positioned above the blue spoon on the countertop, having completed the approach and alignment. The gripper remains open with no closing evidence, indicating contact-based sliding is the current mode. The next action is to push the spoon backward toward the microwave using controlled motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 7 cm, move down 3 cm, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move back 1 cm, open gripper; then move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.36267247796058655, + 0.024295814335346222, + 0.034051261842250824, + 3.0831878185272217, + -0.027912534773349762, + -0.019970843568444252 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "slide spoon backward", + "subtask_reasoning": "The robot end-effector is positioned above the blue spoon on the countertop, having completed the approach and alignment. The gripper remains open with no closing evidence, indicating contact-based sliding is the current mode. The next action is to push the spoon backward toward the microwave using controlled motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 4 cm, move down 2 cm, keep gripper closed; then move back 1 cm, open gripper; then move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.38161101937294006, + 0.033780068159103394, + 0.02129524201154709, + 3.1039090156555176, + 0.0398138053715229, + -0.13087324798107147 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "slide spoon backward", + "subtask_reasoning": "The robot end-effector is positioned above the blue spoon on the countertop, having completed the approach and alignment. The gripper remains open with no closing evidence, indicating contact-based sliding is the current mode. The next action is to push the spoon backward toward the microwave using controlled motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 3 cm, move down 1 cm, keep gripper closed; then move back 1 cm, open gripper; then move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3899191617965698, + 0.0463980957865715, + 0.012916572391986847, + 3.133841037750244, + 0.06602350622415543, + -0.1285666525363922 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "slide spoon backward", + "subtask_reasoning": "The robot end-effector is positioned above the blue spoon on the countertop, having completed the approach and alignment. The gripper remains open with no closing evidence, indicating contact-based sliding is the current mode. The next action is to push the spoon backward toward the microwave using controlled motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, keep gripper closed; then move back 1 cm, open gripper; then move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3936401307582855, + 0.06331218034029007, + 0.012071022763848305, + -3.1222448348999023, + 0.05714602768421173, + -0.060274843126535416 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "reposition after slide", + "subtask_reasoning": "The robot end-effector is positioned above the blue spoon on the countertop, having completed the approach and alignment. The gripper remains open with no closing evidence, indicating contact-based sliding is the current mode. The next action is to push the spoon backward toward the microwave using controlled motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, open gripper; then move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.39471155405044556, + 0.06465491652488708, + 0.011173837818205357, + -3.1243550777435303, + 0.05289127305150032, + -0.029246322810649872 + ], + "gripper_value": 0.3331759572029114 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "reposition after slide", + "subtask_reasoning": "The blue spoon has been slid backward toward the microwave and is now positioned near the center of the counter. The gripper is open and hovering above the spoon, indicating completion of the sliding motion. The next likely action is to reposition the gripper for a potential grasp or final adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.39303264021873474, + 0.06393474340438843, + 0.00908554159104824, + -3.1264309883117676, + 0.05362508445978165, + -0.009770631790161133 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "reposition after slide", + "subtask_reasoning": "The blue spoon has been slid backward toward the microwave and is now positioned near the center of the counter. The gripper is open and hovering above the spoon, indicating completion of the sliding motion. The next likely action is to reposition the gripper for a potential grasp or final adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open; then move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.38801783323287964, + 0.06269264966249466, + 0.009630954824388027, + -3.1272823810577393, + 0.04971985146403313, + 0.021890921518206596 + ], + "gripper_value": 0.7071652412414551 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The blue spoon has been slid backward toward the microwave and is now positioned near the center of the counter. The gripper is open and hovering above the spoon, indicating completion of the sliding motion. The next likely action is to reposition the gripper for a potential grasp or final adjustment." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.37890052795410156, + 0.0599394254386425, + 0.011863691732287407, + -3.136052131652832, + 0.03981078416109085, + -0.017387641593813896 + ], + "gripper_value": 0.9635607004165649 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue spoon on the countertop, with the gripper currently open. Although the segment-level evidence suggests a closing action is occurring, the current frame shows the gripper is still wide open and not yet in contact with the spoon. The next immediate action is to close the gripper fingers to securely grasp the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 2 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3723822236061096, + 0.05033174529671669, + 0.03706393390893936, + -3.1336987018585205, + -0.05953501909971237, + -0.08143597841262817 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue spoon on the countertop, with the gripper currently open. Although the segment-level evidence suggests a closing action is occurring, the current frame shows the gripper is still wide open and not yet in contact with the spoon. The next immediate action is to close the gripper fingers to securely grasp the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3621647357940674, + 0.0375482439994812, + 0.057824306190013885, + -3.1330628395080566, + -0.11750839650630951, + -0.10208143293857574 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "plastic croissant": [ + 346, + 508, + 504, + 679 + ], + "metal pot": [ + 117, + 196, + 333, + 469 + ], + "tomato sauce": [ + 638, + 40, + 782, + 299 + ], + "purple cloth": [ + 59, + 345, + 336, + 527 + ], + "toy stove": [ + 677, + 177, + 996, + 993 + ], + "toy microwave": [ + 274, + 1, + 671, + 230 + ] + } + } + }, + "Understanding": { + "goal": "Slide the blue spoon back towards the microwave." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach spoon" + }, + { + "id": 2, + "subtask": "align and contact spoon" + }, + { + "id": 3, + "subtask": "slide spoon backward" + }, + { + "id": 4, + "subtask": "reposition after slide" + }, + { + "id": 5, + "subtask": "grasp and lift spoon" + } + ], + "subtask_name": "grasp and lift spoon", + "subtask_reasoning": "The robot's end-effector is positioned directly above the blue spoon on the countertop, with the gripper currently open. Although the segment-level evidence suggests a closing action is occurring, the current frame shows the gripper is still wide open and not yet in contact with the spoon. The next immediate action is to close the gripper fingers to securely grasp the spoon before lifting it." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 21, + "end": 24 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001049_ecot.json b/cot/chunk-0001/episode_0001049_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..d43231d09ee46f9a96be745ccc5e19679397249c --- /dev/null +++ b/cot/chunk-0001/episode_0001049_ecot.json @@ -0,0 +1,2039 @@ +{ + "task_name": "episode_0001049", + "episode_json": "json/chunk-0001/episode_0001049.json", + "video_path": "videos/chunk-0001/image_0/episode_0001049.mp4", + "instruction": "Put corn in bowl sink.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 32, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001049.json" + }, + "fps": 5.0, + "T_eff": 32, + "gripper_behavior_summary": { + "available": true, + "range": 0.3523985743522644, + "std": 0.14855541288852692, + "delta_total": 0.002003312110900879, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.35240, std=0.14856, total_delta=0.00200). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 300, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 15 + ], + [ + 4, + 16, + 19 + ], + [ + 5, + 20, + 31 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach sink area\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector from initial position toward the sink where the corn and bowl are located.\"},\n {\"id\": 2, \"name\": \"position above corn\", \"start\": 5, \"end\": 15, \"planning\": \"Adjust end-effector pose to align vertically above the yellow corn toy in the sink.\"},\n {\"id\": 3, \"name\": \"grasp corn toy\", \"start\": 16, \"end\": 19, \"planning\": \"Close gripper around the corn toy while maintaining contact with it in the sink.\"},\n {\"id\": 4, \"name\": \"lift and place corn in bowl\", \"start\": 20, \"end\": 31, \"planning\": \"Lift the grasped corn toy and release it into the blue bowl inside the sink.\"}\n ],\n \"global_plan\": \"Approach the sink, position above the corn, grasp it, then lift and place it into the bowl.\",\n \"notes\": \"Gripper closure is confirmed in segments 4 and 5; grasp and release actions are justified by gripper signal changes and visual evidence. Segment 3 (frames 5-15) shows no gripper activity — treated as positioning phase only.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach sink area", + "start": 0, + "end": 4, + "planning": "Move end-effector from initial position toward the sink where the corn and bowl are located." + }, + { + "id": 2, + "name": "position above corn", + "start": 5, + "end": 15, + "planning": "Adjust end-effector pose to align vertically above the yellow corn toy in the sink." + }, + { + "id": 3, + "name": "grasp corn toy", + "start": 16, + "end": 19, + "planning": "Close gripper around the corn toy while maintaining contact with it in the sink." + }, + { + "id": 4, + "name": "lift and place corn in bowl", + "start": 20, + "end": 31, + "planning": "Lift the grasped corn toy and release it into the blue bowl inside the sink." + } + ], + "global_plan": "Approach the sink, position above the corn, grasp it, then lift and place it into the bowl.", + "notes": "Gripper closure is confirmed in segments 4 and 5; grasp and release actions are justified by gripper signal changes and visual evidence. Segment 3 (frames 5-15) shows no gripper activity — treated as positioning phase only." + } + }, + "episode_goal": "Place the yellow corn toy into the blue bowl located in the sink.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.4033592939376831, + -0.12411655485630035, + 0.06930246949195862, + 3.002753973007202, + -0.30170613527297974, + 0.3572763204574585 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the sink, blue bowl, and yellow corn toy visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to position itself directly above the corn toy for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 12 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3979157507419586, + -0.12157003581523895, + 0.053068239241838455, + 3.0346627235412598, + -0.26667118072509766, + 0.3441633880138397 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the sink, blue bowl, and yellow corn toy visible in the scene. No actions have been completed yet as this is the initial approach phase. The gripper is open and the robot needs to move closer to position itself directly above the corn toy for the upcoming grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 12 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3905484676361084, + -0.09996482729911804, + 0.046467408537864685, + 3.0986623764038086, + -0.2416991889476776, + 0.2799694538116455 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 9 cm, move up 2 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 3 cm, move right 1 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.38936397433280945, + -0.06713777780532837, + 0.0731218159198761, + 3.093093156814575, + -0.28087154030799866, + 0.3069961965084076 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 6 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 4 cm, move down 6 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.37846609950065613, + -0.02994745597243309, + 0.07380187511444092, + 3.068713903427124, + -0.21208183467388153, + 0.39833617210388184 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 346, + 195, + 943, + 719 + ], + "blue bowl": [ + 671, + 466, + 843, + 663 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "approach sink area", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, keep gripper open; then move back 4 cm, move down 7 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3676922023296356, + -0.005314027890563011, + 0.06990046799182892, + 3.0719006061553955, + -0.13341288268566132, + 0.43727079033851624 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move down 8 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3533748388290405, + 7.070638821460307e-05, + 0.05562052130699158, + 3.044887065887451, + -0.07741201668977737, + 0.49656441807746887 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3400421440601349, + 0.0010203808778896928, + 0.05199297517538071, + 3.0721921920776367, + -0.08709593862295151, + 0.5633705258369446 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3312857151031494, + -0.008910462260246277, + 0.040846530348062515, + 3.0633604526519775, + -0.07243724912405014, + 0.6103296279907227 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353307247161865, + -0.017233701422810555, + 0.039163049310445786, + 3.0693857669830322, + -0.12167024612426758, + 0.6270856857299805 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 670, + 466, + 844, + 664 + ], + "stove top": [ + 4, + 20, + 426, + 417 + ], + "sink": [ + 349, + 223, + 945, + 719 + ], + "yellow cup": [ + 550, + 456, + 633, + 574 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot is positioned above the sink area where the corn and bowl are located. No objects have been moved yet. The gripper is open and the arm is stationary, indicating the approach phase is ongoing. The next action should involve moving the end effector closer to the corn toy to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move right 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.33531346917152405, + -0.018801724538207054, + 0.02359708957374096, + 3.087124824523926, + -0.12612995505332947, + 0.634587824344635 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot arm is positioned above the sink area where the yellow corn toy is located. The gripper is open and hovering near the corn, indicating readiness to grasp. The next action should be to lower the gripper slightly to make contact with the corn for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 5 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.33691734075546265, + -0.01626291684806347, + 0.017625842243433, + 3.0879857540130615, + -0.1565140187740326, + 0.6513301730155945 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot arm is positioned above the sink area where the yellow corn toy is located. The gripper is open and hovering near the corn, indicating readiness to grasp. The next action should be to lower the gripper slightly to make contact with the corn for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move right 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357984721660614, + -0.014057284221053123, + 0.012807847000658512, + 3.0994484424591064, + -0.151851087808609, + 0.6636051535606384 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot arm is positioned above the sink area where the yellow corn toy is located. The gripper is open and hovering near the corn, indicating readiness to grasp. The next action should be to lower the gripper slightly to make contact with the corn for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 4 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper closed; then move forward 1 cm, move right 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.33250734210014343, + -0.006242208182811737, + 0.008403785526752472, + 3.1076366901397705, + -0.15768617391586304, + 0.6752790212631226 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot arm is positioned above the sink area where the yellow corn toy is located. The gripper is open and hovering near the corn, indicating readiness to grasp. The next action should be to lower the gripper slightly to make contact with the corn for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 7 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.32942259311676025, + -0.004278397187590599, + 0.0029557901434600353, + 3.114487409591675, + -0.16277655959129333, + 0.6739588379859924 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot arm is positioned above the sink area where the yellow corn toy is located. The gripper is open and hovering near the corn, indicating readiness to grasp. The next action should be to lower the gripper slightly to make contact with the corn for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 3 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3238273561000824, + -0.0015773732447996736, + -0.010842259041965008, + 3.1340742111206055, + -0.16311703622341156, + 0.6755084991455078 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "position above corn", + "subtask_reasoning": "The robot arm is positioned above the sink area where the yellow corn toy is located. The gripper is open and hovering near the corn, indicating readiness to grasp. The next action should be to lower the gripper slightly to make contact with the corn for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.32361435890197754, + 0.000881517946254462, + -0.022861218079924583, + -3.1316263675689697, + -0.16585883498191833, + 0.7064178586006165 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "grasp corn toy", + "subtask_reasoning": "The robot arm is positioned above the sink area where the yellow corn toy is located. The gripper is open and hovering near the corn, indicating readiness to grasp. The next action should be to lower the gripper slightly to make contact with the corn for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 9 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32202085852622986, + -0.0008925041765905917, + -0.02329936996102333, + -3.1285579204559326, + -0.15831807255744934, + 0.706800639629364 + ], + "gripper_value": 0.941448450088501 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "grasp corn toy", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 8 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.32056912779808044, + -0.0020610252395272255, + -0.023361779749393463, + -3.1236259937286377, + -0.14473417401313782, + 0.6838200688362122 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "grasp corn toy", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 3 cm, move right 8 cm, move up 1 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.31896424293518066, + -0.004437384195625782, + -0.018084540963172913, + -3.133159875869751, + -0.1323033571243286, + 0.6812408566474915 + ], + "gripper_value": 0.649078905582428 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "grasp corn toy", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, move up 3 cm, keep gripper closed; then move forward 2 cm, move right 8 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3237342834472656, + -0.013268631882965565, + 0.007174467667937279, + 3.122617483139038, + -0.11666273325681686, + 0.689598798751831 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 8 cm, rotate clockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3296210467815399, + -0.02671205997467041, + 0.026105115190148354, + 3.115631341934204, + -0.09678234159946442, + 0.7044821977615356 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 7 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.33755189180374146, + -0.05686849355697632, + 0.03933240473270416, + 3.066138505935669, + -0.07511233538389206, + 0.7170292139053345 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505907654762268, + -0.08759816735982895, + 0.03973918408155441, + 3.0556960105895996, + -0.06471151113510132, + 0.7248475551605225 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "sink": [ + 347, + 194, + 945, + 719 + ], + "blue bowl": [ + 670, + 467, + 842, + 663 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3506411612033844, + -0.10555154085159302, + 0.02284982241690159, + 3.0390450954437256, + -0.04971911385655403, + 0.7509973645210266 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue bowl": [ + 670, + 473, + 843, + 663 + ], + "stove top": [ + 4, + 20, + 426, + 417 + ], + "sink": [ + 346, + 194, + 942, + 718 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the yellow corn toy in the sink, with the gripper open and ready to grasp. The gripper signal shows a significant closing trend, indicating an imminent grasp action. The next step is to close the gripper to securely hold the corn toy." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.35139209032058716, + -0.10551347583532333, + 0.018026724457740784, + 3.0519983768463135, + -0.06963064521551132, + 0.76495760679245 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue bowl and yellow corn toy are located. The gripper is open, indicating the corn has not yet been grasped. The next action should involve closing the gripper to grasp the corn toy before lifting and placing it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.3487452268600464, + -0.10436368733644485, + 0.01460552029311657, + 3.059359312057495, + -0.07081682235002518, + 0.7719442844390869 + ], + "gripper_value": 0.6751802563667297 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue bowl and yellow corn toy are located. The gripper is open, indicating the corn has not yet been grasped. The next action should involve closing the gripper to grasp the corn toy before lifting and placing it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.35023170709609985, + -0.09825334697961807, + 0.015168637968599796, + 3.0646402835845947, + -0.07901180535554886, + 0.8007858395576477 + ], + "gripper_value": 0.6991904973983765 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue bowl and yellow corn toy are located. The gripper is open, indicating the corn has not yet been grasped. The next action should involve closing the gripper to grasp the corn toy before lifting and placing it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.34941554069519043, + -0.09649728238582611, + 0.013980064541101456, + 3.073573589324951, + -0.08401208370923996, + 0.8065895438194275 + ], + "gripper_value": 0.8055269122123718 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue bowl and yellow corn toy are located. The gripper is open, indicating the corn has not yet been grasped. The next action should involve closing the gripper to grasp the corn toy before lifting and placing it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3440490663051605, + -0.09481947869062424, + 0.008627906441688538, + 3.0842161178588867, + -0.0802014172077179, + 0.7949140071868896 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue bowl and yellow corn toy are located. The gripper is open, indicating the corn has not yet been grasped. The next action should involve closing the gripper to grasp the corn toy before lifting and placing it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.34117838740348816, + -0.09496916830539703, + 0.008658356964588165, + 3.0985565185546875, + -0.06653957813978195, + 0.7835697531700134 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue bowl and yellow corn toy are located. The gripper is open, indicating the corn has not yet been grasped. The next action should involve closing the gripper to grasp the corn toy before lifting and placing it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.3422175347805023, + -0.09452921897172928, + 0.009547646157443523, + 3.095820188522339, + -0.07026033848524094, + 0.7735880017280579 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow corn toy into the blue bowl located in the sink." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach sink area" + }, + { + "id": 2, + "subtask": "position above corn" + }, + { + "id": 3, + "subtask": "grasp corn toy" + }, + { + "id": 4, + "subtask": "lift and place corn in bowl" + } + ], + "subtask_name": "lift and place corn in bowl", + "subtask_reasoning": "The robot arm is positioned above the sink where the blue bowl and yellow corn toy are located. The gripper is open, indicating the corn has not yet been grasped. The next action should involve closing the gripper to grasp the corn toy before lifting and placing it into the bowl." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 31 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 31 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001050_ecot.json b/cot/chunk-0001/episode_0001050_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..42a9cfcf2359bf7c8d1770da39cc8ba213194cf3 --- /dev/null +++ b/cot/chunk-0001/episode_0001050_ecot.json @@ -0,0 +1,1499 @@ +{ + "task_name": "episode_0001050", + "episode_json": "json/chunk-0001/episode_0001050.json", + "video_path": "videos/chunk-0001/image_0/episode_0001050.mp4", + "instruction": "Put carrot on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 23, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001050.json" + }, + "fps": 5.0, + "T_eff": 23, + "gripper_behavior_summary": { + "available": true, + "range": 0.4229915142059326, + "std": 0.20008957386016846, + "delta_total": -0.0014730095863342285, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.42299, std=0.20009, total_delta=-0.00147). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 100, + 100, + 100, + 100, + 100 + ], + "seg_spans": [ + [ + 1, + 0, + 17 + ], + [ + 2, + 18, + 22 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach carrot\", \"start\": 0, \"end\": 7, \"planning\": \"Move end-effector from initial position toward the carrot on the stove burner.\"},\n {\"id\": 2, \"name\": \"grasp carrot\", \"start\": 8, \"end\": 17, \"planning\": \"Close gripper around carrot and lift it slightly, confirmed by gripper closure and motion evidence.\"},\n {\"id\": 3, \"name\": \"transport to plate\", \"start\": 18, \"end\": 20, \"planning\": \"Carry grasped carrot from stove to target plate location with controlled motion.\"},\n {\"id\": 4, \"name\": \"release carrot on plate\", \"start\": 21, \"end\": 22, \"planning\": \"Open gripper to place carrot onto plate, confirmed by gripper opening and final pose stability.\"}\n ],\n \"global_plan\": \"Approach carrot on stove, grasp it securely, transport to plate, and release it precisely on the plate surface.\",\n \"notes\": \"Segment 1 shows meaningful gripper closure (delta=-0.42299) consistent with grasping; Segment 2 shows meaningful opening (delta=+0.42152) consistent with releasing. All subtasks are contiguous and cover full trajectory [0,22]. Image evidence at frame 17 confirms carrot held; frame 22 confirms carrot placed on plate.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach carrot", + "start": 0, + "end": 7, + "planning": "Move end-effector from initial position toward the carrot on the stove burner." + }, + { + "id": 2, + "name": "grasp carrot", + "start": 8, + "end": 17, + "planning": "Close gripper around carrot and lift it slightly, confirmed by gripper closure and motion evidence." + }, + { + "id": 3, + "name": "transport to plate", + "start": 18, + "end": 20, + "planning": "Carry grasped carrot from stove to target plate location with controlled motion." + }, + { + "id": 4, + "name": "release carrot on plate", + "start": 21, + "end": 22, + "planning": "Open gripper to place carrot onto plate, confirmed by gripper opening and final pose stability." + } + ], + "global_plan": "Approach carrot on stove, grasp it securely, transport to plate, and release it precisely on the plate surface.", + "notes": "Segment 1 shows meaningful gripper closure (delta=-0.42299) consistent with grasping; Segment 2 shows meaningful opening (delta=+0.42152) consistent with releasing. All subtasks are contiguous and cover full trajectory [0,22]. Image evidence at frame 17 confirms carrot held; frame 22 confirms carrot placed on plate." + } + }, + "episode_goal": "Pick up the carrot from the stove and place it on the plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.21606828272342682, + 0.011139371432363987, + 0.16970106959342957, + -2.8709609508514404, + -0.01158066000789404, + -0.1435697227716446 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible on a burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 6 cm, move down 14 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move left 1 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.22832904756069183, + 0.000471449107863009, + 0.1575464904308319, + -2.8898890018463135, + 0.00607386464253068, + -0.21091000735759735 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible on a burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 4 cm, move down 13 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move left 2 cm, move down 1 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.25359511375427246, + -0.030798928812146187, + 0.13870272040367126, + -2.949692487716675, + -0.021889006718993187, + -0.3306768834590912 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 800, + 390, + 894, + 553 + ], + "banana": [ + 269, + 182, + 392, + 322 + ], + "green vegetable": [ + 203, + 486, + 301, + 593 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot is positioned above the stove with the carrot visible on a burner. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 11 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open; then move forward 2 cm, move left 6 cm, move up 1 cm, tilt left 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2690693736076355, + -0.05021456629037857, + 0.11608549952507019, + -2.9696662425994873, + -0.05286020785570145, + -0.3690054416656494 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 8 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 4 cm, move left 9 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.27334949374198914, + -0.05947685241699219, + 0.08409880846738815, + -2.994558095932007, + -0.08659365028142929, + -0.3773985505104065 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 5 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 7 cm, move left 13 cm, move up 4 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.27706050872802734, + -0.05441364273428917, + 0.06317947804927826, + -3.0276427268981934, + -0.14181385934352875, + -0.3451319932937622 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 3 cm, keep gripper open; then move forward 9 cm, move left 15 cm, move up 4 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.2776351869106293, + -0.05142756178975105, + 0.048494406044483185, + -3.0294158458709717, + -0.16133859753608704, + -0.34202244877815247 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, keep gripper open; then move forward 11 cm, move left 17 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.27541425824165344, + -0.047253601253032684, + 0.03824172168970108, + -3.0282504558563232, + -0.16158653795719147, + -0.33209654688835144 + ], + "gripper_value": 0.9672539830207825 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "approach carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move forward 13 cm, move left 18 cm, move up 3 cm, tilt left 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.2759989798069, + -0.04386167973279953, + 0.03249364718794823, + -3.051750659942627, + -0.17901918292045593, + -0.28804445266723633 + ], + "gripper_value": 0.9590815901756287 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 19 cm, move up 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.27694717049598694, + -0.039559975266456604, + 0.027168812230229378, + -3.083620548248291, + -0.18264831602573395, + -0.22651851177215576 + ], + "gripper_value": 0.7710858583450317 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 19 cm, move up 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.2774254083633423, + -0.036227934062480927, + 0.023071179166436195, + -3.0944762229919434, + -0.1770372986793518, + -0.19856677949428558 + ], + "gripper_value": 0.5580781102180481 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 18 cm, move up 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.28145745396614075, + -0.019926603883504868, + 0.024662844836711884, + -3.064587354660034, + -0.1588069051504135, + -0.18000467121601105 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot arm is positioned above the stove with the carrot visible on a burner. No grasping has occurred yet as the gripper remains open and stationary. The next action should involve moving the end effector closer to the carrot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move left 17 cm, move up 3 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 3 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.29448196291923523, + 0.014213696122169495, + 0.03766278922557831, + -2.9634134769439697, + -0.1545800417661667, + -0.17112582921981812 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move left 13 cm, move up 2 cm, tilt left 20 degrees, tilt back 10 degrees, rotate counterclockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.315855473279953, + 0.0455310121178627, + 0.05439796671271324, + -2.8802859783172607, + -0.1424933224916458, + -0.19888746738433838 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 270, + 182, + 389, + 321 + ], + "red pepper": [ + 801, + 392, + 894, + 553 + ], + "green vegetable": [ + 203, + 485, + 300, + 592 + ], + "carrot": [ + 371, + 351, + 469, + 473 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 10 cm, move left 10 cm, tilt left 20 degrees, tilt back 20 degrees, rotate counterclockwise 50 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.34459319710731506, + 0.0813271701335907, + 0.068983294069767, + -2.808483839035034, + -0.12652741372585297, + -0.31329458951950073 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 7 cm, move down 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 40 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3652000427246094, + 0.10191435366868973, + 0.07043830305337906, + -2.7735705375671387, + -0.11972986161708832, + -0.4837465286254883 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 801, + 391, + 894, + 553 + ], + "banana": [ + 271, + 185, + 391, + 319 + ], + "green vegetable": [ + 202, + 485, + 300, + 591 + ], + "carrot": [ + 319, + 213, + 409, + 292 + ] + } + } + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 4 cm, move down 1 cm, tilt left 10 degrees, tilt back 20 degrees, rotate counterclockwise 30 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3833986222743988, + 0.12794086337089539, + 0.06522288173437119, + -2.71855092048645, + -0.133004829287529, + -0.6746865510940552 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate counterclockwise 20 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.4023628830909729, + 0.13467971980571747, + 0.05858408287167549, + -2.6701178550720215, + -0.1427144557237625, + -0.870978057384491 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "grasp carrot", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper closed; then move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 8, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.4207385182380676, + 0.1463809311389923, + 0.05595824122428894, + -2.5944740772247314, + -0.16570502519607544, + -1.0800552368164062 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The robot end-effector is positioned directly above the carrot on the stove, with the gripper open and aligned for grasping. The approach phase is complete, and the gripper is beginning to close as indicated by the decreasing gripper value. The next action is to fully close the gripper to securely grasp the carrot." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4284350275993347, + 0.15289540588855743, + 0.056444086134433746, + -2.518151044845581, + -0.1757582128047943, + -1.1981698274612427 + ], + "gripper_value": 0.5442624688148499 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The carrot is currently held by the gripper and is being transported from the stove area toward the plate. The gripper remains closed, indicating secure grasp during transit. The next action is to continue moving the carrot closer to the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.43014827370643616, + 0.15148885548114777, + 0.05940697342157364, + -2.4865822792053223, + -0.19089534878730774, + -1.2856543064117432 + ], + "gripper_value": 0.7642965912818909 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "transport to plate", + "subtask_reasoning": "The carrot is currently held by the gripper and is being transported from the stove area toward the plate. The gripper remains closed, indicating secure grasp during transit. The next action is to continue moving the carrot closer to the plate for precise placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, keep gripper open; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4274766445159912, + 0.1572471410036087, + 0.059470243752002716, + -2.480437755584717, + -0.2017630636692047, + -1.3109757900238037 + ], + "gripper_value": 0.9499720335006714 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot's end-effector is positioned over the plate on the stove, but the gripper is currently open (value ~0.95), indicating the carrot is not being held. Since the segment-level gripper evidence shows a slight increase (opening) rather than a decrease (closing), the robot has likely already released the object or failed to grasp it in this specific window. The most likely next action is to verify the carrot's presence on the plate or re-grasp it if it was dropped." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 22 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4277173578739166, + 0.15659122169017792, + 0.059470243752002716, + -2.480437755584717, + -0.2017630636692047, + -1.3125097751617432 + ], + "gripper_value": 0.9657809734344482 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Pick up the carrot from the stove and place it on the plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach carrot" + }, + { + "id": 2, + "subtask": "grasp carrot" + }, + { + "id": 3, + "subtask": "transport to plate" + }, + { + "id": 4, + "subtask": "release carrot on plate" + } + ], + "subtask_name": "release carrot on plate", + "subtask_reasoning": "The robot's end-effector is positioned over the plate on the stove, but the gripper is currently open (value ~0.95), indicating the carrot is not being held. Since the segment-level gripper evidence shows a slight increase (opening) rather than a decrease (closing), the robot has likely already released the object or failed to grasp it in this specific window. The most likely next action is to verify the carrot's presence on the plate or re-grasp it if it was dropped." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 22 + }, + "cache_ref": { + "anchor_ref_reasoning": 21 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 22 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001051_ecot.json b/cot/chunk-0001/episode_0001051_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..a8722a53814ee1c65cbe19e8543c45c344856290 --- /dev/null +++ b/cot/chunk-0001/episode_0001051_ecot.json @@ -0,0 +1,1228 @@ +{ + "task_name": "episode_0001051", + "episode_json": "json/chunk-0001/episode_0001051.json", + "video_path": "videos/chunk-0001/image_0/episode_0001051.mp4", + "instruction": "Turn lever vertical to front.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001051.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.5886586904525757, + "std": 0.27226799726486206, + "delta_total": -0.5886586904525757, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.58866, std=0.27227, total_delta=-0.58866). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 11, + 11, + 111, + 111, + 111, + 111, + 111, + 111, + 111 + ], + "seg_spans": [ + [ + 1, + 0, + 10 + ], + [ + 2, + 11, + 12 + ], + [ + 3, + 13, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach lever\", \"start\": 0, \"end\": 9, \"planning\": \"Move end-effector toward the lever while keeping gripper open, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp lever\", \"start\": 10, \"end\": 10, \"planning\": \"Close gripper to securely grasp the lever as confirmed by significant gripper closure and image alignment.\"},\n {\"id\": 3, \"name\": \"rotate lever vertical\", \"start\": 11, \"end\": 19, \"planning\": \"Apply controlled rotational motion to turn the lever to vertical front position while maintaining grip.\"}\n ],\n \"global_plan\": \"Approach the lever with open gripper, grasp it firmly at frame 10, then rotate it vertically forward through frame 19.\",\n \"notes\": \"Segment 1 shows meaningful gripper closing (delta=-0.47420) and image evidence supports grasp at frame 10; Segment 2 has no gripper change but is part of continuous rotation phase; Segment 3 maintains grip with minor adjustments during final positioning.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach lever", + "start": 0, + "end": 9, + "planning": "Move end-effector toward the lever while keeping gripper open, preparing for contact." + }, + { + "id": 2, + "name": "grasp lever", + "start": 10, + "end": 10, + "planning": "Close gripper to securely grasp the lever as confirmed by significant gripper closure and image alignment." + }, + { + "id": 3, + "name": "rotate lever vertical", + "start": 11, + "end": 19, + "planning": "Apply controlled rotational motion to turn the lever to vertical front position while maintaining grip." + } + ], + "global_plan": "Approach the lever with open gripper, grasp it firmly at frame 10, then rotate it vertically forward through frame 19.", + "notes": "Segment 1 shows meaningful gripper closing (delta=-0.47420) and image evidence supports grasp at frame 10; Segment 2 has no gripper change but is part of continuous rotation phase; Segment 3 maintains grip with minor adjustments during final positioning." + } + }, + "episode_goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.39547911286354065, + -0.10614755004644394, + 0.07029489427804947, + -2.9430766105651855, + -0.12519557774066925, + 0.05876249819993973 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the manual juicer lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action is to continue moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 1 cm, tilt left 10 degrees, tilt back 20 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3941780924797058, + -0.10272245854139328, + 0.05202841758728027, + -2.8974292278289795, + -0.09632445871829987, + 0.05592696741223335 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cabbage": [ + 428, + 587, + 547, + 716 + ], + "toy melon": [ + 370, + 239, + 548, + 350 + ], + "toy stove burners": [ + 165, + 289, + 391, + 508 + ], + "sink": [ + 313, + 339, + 922, + 922 + ], + "toy orange slices": [ + 834, + 735, + 993, + 947 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the manual juicer lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action is to continue moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 3 cm, tilt back 20 degrees, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.4028714597225189, + -0.10929769277572632, + 0.06318316608667374, + -2.865200996398926, + -0.159077987074852, + 0.04006858170032501 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the manual juicer lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action is to continue moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 1 cm, move up 2 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.413955420255661, + -0.108589768409729, + 0.07264044880867004, + -2.849379301071167, + -0.22329992055892944, + 0.038837045431137085 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is positioned above the kitchen counter with the gripper open, approaching the manual juicer lever. No contact has been made yet, and the lever remains in its initial horizontal position. The next action is to continue moving the gripper closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 1 cm, move up 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move down 1 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.42252323031425476, + -0.10857094824314117, + 0.08064618706703186, + -2.842470169067383, + -0.27241265773773193, + 0.03774773329496384 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is currently positioned above the sink, approaching the manual juicer lever from a distance. No contact has been made yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 3 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.42867565155029297, + -0.10723339766263962, + 0.08429089188575745, + -2.834991216659546, + -0.31428027153015137, + 0.04091954231262207 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is currently positioned above the sink, approaching the manual juicer lever from a distance. No contact has been made yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, tilt back 10 degrees, close gripper; then move back 1 cm, keep gripper closed; then move back 4 cm, move right 1 cm, move down 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.4354797899723053, + -0.10609514266252518, + 0.08699271827936172, + -2.824955463409424, + -0.35922667384147644, + 0.02861027978360653 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is currently positioned above the sink, approaching the manual juicer lever from a distance. No contact has been made yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 1 cm, close gripper; then move back 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.4409044086933136, + -0.10511627793312073, + 0.088826023042202, + -2.823063611984253, + -0.39087027311325073, + 0.017748408019542694 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is currently positioned above the sink, approaching the manual juicer lever from a distance. No contact has been made yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, close gripper; then move back 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 4 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.4462485611438751, + -0.09811948239803314, + 0.08810742199420929, + -2.8172969818115234, + -0.40503251552581787, + 0.016400471329689026 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is currently positioned above the sink, approaching the manual juicer lever from a distance. No contact has been made yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move back 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.4523875415325165, + -0.09431758522987366, + 0.08506232500076294, + -2.8185946941375732, + -0.41268956661224365, + 0.026776239275932312 + ], + "gripper_value": 0.8111810088157654 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "approach lever", + "subtask_reasoning": "The robot is currently positioned above the sink, approaching the manual juicer lever from a distance. No contact has been made yet as the gripper remains fully open. The next action is to continue moving the end-effector closer to the lever to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.45215821266174316, + -0.09445603936910629, + 0.08490347862243652, + -2.828230857849121, + -0.4157494604587555, + 0.051011715084314346 + ], + "gripper_value": 0.5266194939613342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "grasp lever", + "subtask_reasoning": "The robot has approached the manual juicer lever and is positioned near it in the kitchen scene. The gripper remains open with no closing evidence in this segment, indicating the grasp has not yet been initiated. The next action should be to close the gripper to firmly grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 5 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 10 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 10, + "end": 10 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.4458265006542206, + -0.09873899817466736, + 0.08360234647989273, + -2.8460214138031006, + -0.4070545732975006, + 0.12030502408742905 + ], + "gripper_value": 0.4485226273536682 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the manual juicer lever and is positioned near it in the kitchen scene. The gripper remains open with no closing evidence in this segment, indicating the grasp has not yet been initiated. The next action should be to close the gripper to firmly grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4327463209629059, + -0.10233321785926819, + 0.0787404328584671, + -2.8676199913024902, + -0.3617485761642456, + 0.20765160024166107 + ], + "gripper_value": 0.4485226273536682 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the manual juicer lever and is positioned near it in the kitchen scene. The gripper remains open with no closing evidence in this segment, indicating the grasp has not yet been initiated. The next action should be to close the gripper to firmly grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 1 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.4202593266963959, + -0.10491205751895905, + 0.07264161109924316, + -2.892582416534424, + -0.3035254180431366, + 0.24946686625480652 + ], + "gripper_value": 0.4485226273536682 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the manual juicer lever and is positioned near it in the kitchen scene. The gripper remains open with no closing evidence in this segment, indicating the grasp has not yet been initiated. The next action should be to close the gripper to firmly grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move down 4 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4114384055137634, + -0.10866212099790573, + 0.0667022317647934, + -2.9165735244750977, + -0.25761038064956665, + 0.2578892409801483 + ], + "gripper_value": 0.4485226273536682 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "toy cabbage": [ + 429, + 587, + 546, + 714 + ], + "toy stove burners": [ + 166, + 290, + 393, + 509 + ], + "faucet": [ + 623, + 10, + 832, + 422 + ], + "sink": [ + 314, + 338, + 921, + 921 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has approached the manual juicer lever and is positioned near it in the kitchen scene. The gripper remains open with no closing evidence in this segment, indicating the grasp has not yet been initiated. The next action should be to close the gripper to firmly grasp the lever." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move down 3 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 10 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.4055943489074707, + -0.10962355136871338, + 0.06150893121957779, + -2.9291305541992188, + -0.22206087410449982, + 0.22664378583431244 + ], + "gripper_value": 0.4485226273536682 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has grasped the lever of the manual juicer and is currently rotating it. The gripper remains closed, and the lever is mid-rotation toward a vertical front-facing position. The next action is to continue rotating the lever until it reaches the target vertical orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 3 cm, tilt right 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.39819157123565674, + -0.1091168001294136, + 0.05083916336297989, + -2.960433006286621, + -0.16359178721904755, + 0.2040793001651764 + ], + "gripper_value": 0.4457511007785797 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has grasped the lever of the manual juicer and is currently rotating it. The gripper remains closed, and the lever is mid-rotation toward a vertical front-facing position. The next action is to continue rotating the lever until it reaches the target vertical orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.39548248052597046, + -0.10859932005405426, + 0.04519606754183769, + -2.988654136657715, + -0.13555890321731567, + 0.1949145346879959 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has grasped the lever of the manual juicer and is currently rotating it. The gripper remains closed, and the lever is mid-rotation toward a vertical front-facing position. The next action is to continue rotating the lever until it reaches the target vertical orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3947812020778656, + -0.10798481851816177, + 0.03808831050992012, + -3.0087990760803223, + -0.1360636204481125, + 0.18332216143608093 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has grasped the lever of the manual juicer and is currently rotating it. The gripper remains closed, and the lever is mid-rotation toward a vertical front-facing position. The next action is to continue rotating the lever until it reaches the target vertical orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.393940269947052, + -0.10766930878162384, + 0.03187836334109306, + -3.028364419937134, + -0.13876919448375702, + 0.18490473926067352 + ], + "gripper_value": 0.4121573865413666 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the lever of the manual juicer and rotate it to a vertical position facing the front." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach lever" + }, + { + "id": 2, + "subtask": "grasp lever" + }, + { + "id": 3, + "subtask": "rotate lever vertical" + } + ], + "subtask_name": "rotate lever vertical", + "subtask_reasoning": "The robot has grasped the lever of the manual juicer and is currently rotating it. The gripper remains closed, and the lever is mid-rotation toward a vertical front-facing position. The next action is to continue rotating the lever until it reaches the target vertical orientation." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 15 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 11, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001052_ecot.json b/cot/chunk-0001/episode_0001052_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..b88b93263f0dca153f2bcd32619d5515acfa9a90 --- /dev/null +++ b/cot/chunk-0001/episode_0001052_ecot.json @@ -0,0 +1,1212 @@ +{ + "task_name": "episode_0001052", + "episode_json": "json/chunk-0001/episode_0001052.json", + "video_path": "videos/chunk-0001/image_0/episode_0001052.mp4", + "instruction": "Put eggplant on plate.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001052.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.27445024251937866, + "std": 0.11935287714004517, + "delta_total": -0.27445024251937866, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.27445, std=0.11935, total_delta=-0.27445). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "seg_spans": [ + [ + 1, + 0, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach eggplant\", \"start\": 0, \"end\": 8, \"planning\": \"Move the end-effector from the initial position toward the eggplant on the counter.\"},\n {\"id\": 2, \"name\": \"grasp eggplant\", \"start\": 9, \"end\": 15, \"planning\": \"Close the gripper around the eggplant and secure it for lifting, as gripper value begins to decrease significantly in this phase.\"},\n {\"id\": 3, \"name\": \"lift and reposition over plate\", \"start\": 16, \"end\": 19, \"planning\": \"Lift the grasped eggplant and move it horizontally toward the green plate, preparing for placement.\"}\n ],\n \"global_plan\": \"Approach the eggplant, grasp it securely, then lift and reposition it over the plate for placement.\",\n \"notes\": \"Gripper closure is confirmed by segment-level evidence (delta=-0.27445) and image consistency at frame 19 showing gripper closed around object. Subtasks are split to reflect distinct manipulation phases: approach, grasp, and reposition.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach eggplant", + "start": 0, + "end": 8, + "planning": "Move the end-effector from the initial position toward the eggplant on the counter." + }, + { + "id": 2, + "name": "grasp eggplant", + "start": 9, + "end": 15, + "planning": "Close the gripper around the eggplant and secure it for lifting, as gripper value begins to decrease significantly in this phase." + }, + { + "id": 3, + "name": "lift and reposition over plate", + "start": 16, + "end": 19, + "planning": "Lift the grasped eggplant and move it horizontally toward the green plate, preparing for placement." + } + ], + "global_plan": "Approach the eggplant, grasp it securely, then lift and reposition it over the plate for placement.", + "notes": "Gripper closure is confirmed by segment-level evidence (delta=-0.27445) and image consistency at frame 19 showing gripper closed around object. Subtasks are split to reflect distinct manipulation phases: approach, grasp, and reposition." + } + }, + "episode_goal": "Grasp the purple eggplant on the countertop and place it onto the green plate.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.35338422656059265, + -0.017213866114616394, + 0.062309734523296356, + -2.9255030155181885, + 0.048825573176145554, + -1.2404868602752686 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. No actions have been completed yet. The gripper is open and the arm is stationary, indicating the approach phase has not started. The next action should be to move the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 4 cm, rotate clockwise 40 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.34847843647003174, + -0.014522513374686241, + 0.05016355589032173, + -2.95953106880188, + 0.08092301338911057, + -1.1456860303878784 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. No actions have been completed yet. The gripper is open and the arm is stationary, indicating the approach phase has not started. The next action should be to move the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.35248109698295593, + -0.017234021797776222, + 0.05431095138192177, + -2.9357643127441406, + 0.07374612987041473, + -0.9929869174957275 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. No actions have been completed yet. The gripper is open and the arm is stationary, indicating the approach phase has not started. The next action should be to move the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3544785678386688, + -0.019310815259814262, + 0.051996245980262756, + -2.9427852630615234, + 0.048790544271469116, + -0.8869492411613464 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. No actions have been completed yet. The gripper is open and the arm is stationary, indicating the approach phase has not started. The next action should be to move the arm closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper open; then move left 1 cm, move down 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.35981079936027527, + -0.022801730781793594, + 0.05057496577501297, + -2.9398462772369385, + 0.0014429589500650764, + -0.7914904952049255 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 3 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.36651498079299927, + -0.025648901239037514, + 0.04749896004796028, + -2.9367129802703857, + -0.06104738637804985, + -0.7141042351722717 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.37034422159194946, + -0.022361023351550102, + 0.04183210805058479, + -2.9417755603790283, + -0.09329508244991302, + -0.6472293734550476 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, rotate clockwise 10 degrees, keep gripper open; then move left 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37182825803756714, + -0.022955719381570816, + 0.03757689893245697, + -2.9462943077087402, + -0.11351503431797028, + -0.6059930324554443 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3727239966392517, + -0.02332533523440361, + 0.03117280639708042, + -2.9604244232177734, + -0.13085857033729553, + -0.5782142281532288 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "approach eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move left 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 8 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 8 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3717847168445587, + -0.01984809897840023, + 0.025287717580795288, + -2.9714715480804443, + -0.1484382599592209, + -0.5651673078536987 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "yellow spatula": [ + 290, + 408, + 401, + 596 + ], + "purple ball": [ + 547, + 406, + 641, + 510 + ], + "faucet": [ + 384, + 14, + 563, + 303 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, close gripper; then move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3699336051940918, + -0.01713164895772934, + 0.017139896750450134, + -2.9755136966705322, + -0.1603587120771408, + -0.5549904108047485 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 1 cm, close gripper; then move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3697541654109955, + -0.016570797190070152, + 0.013934050686657429, + -2.980937957763672, + -0.17454536259174347, + -0.547619104385376 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot arm is positioned above the countertop near the purple eggplant and green plate. The gripper is open and has not yet made contact with the eggplant. The next action should be to move the gripper closer to the eggplant to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 4 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3677832782268524, + -0.014057857915759087, + 0.006179886870086193, + -2.982196092605591, + -0.18709976971149445, + -0.53731369972229 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "close gripper; then move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3689500689506531, + -0.013645745813846588, + 0.0030385388527065516, + -2.9916019439697266, + -0.21814127266407013, + -0.5258591175079346 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3710896074771881, + -0.012595689855515957, + 0.0020881234668195248, + -2.9957706928253174, + -0.23846232891082764, + -0.522375226020813 + ], + "gripper_value": 0.8390268683433533 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.37133580446243286, + -0.011986595578491688, + 0.001957537606358528, + -2.998091459274292, + -0.23269112408161163, + -0.5215029716491699 + ], + "gripper_value": 0.7250383496284485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "grasp eggplant", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 15 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 9, + "end": 15 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.36992159485816956, + -0.011786414310336113, + 0.003330330364406109, + -3.013370990753174, + -0.20011627674102783, + -0.5354040265083313 + ], + "gripper_value": 0.7250383496284485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has approached the purple eggplant on the countertop, positioning the gripper directly above it. The gripper is currently open and ready to close. The next action is to close the gripper to securely grasp the eggplant." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 3 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 12 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.36247435212135315, + -0.010325027629733086, + 0.009369407780468464, + -3.0587804317474365, + -0.11620946228504181, + -0.5235188603401184 + ], + "gripper_value": 0.7250383496284485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant from the countertop. It is currently lifting the object and moving it horizontally towards the green plate. The next action is to continue repositioning the eggplant until it is directly above the plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 4 cm, move up 2 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.35376980900764465, + -0.01718340627849102, + 0.021861102432012558, + -3.0527102947235107, + -0.05889138579368591, + -0.43115541338920593 + ], + "gripper_value": 0.7250383496284485 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant from the countertop. It is currently lifting the object and moving it horizontally towards the green plate. The next action is to continue repositioning the eggplant until it is directly above the plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 3 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3353572189807892, + -0.04806061089038849, + 0.03325577825307846, + -3.02406644821167, + -0.08510502427816391, + -0.35095101594924927 + ], + "gripper_value": 0.7250383496284485 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "purple ball": [ + 568, + 416, + 653, + 512 + ], + "yellow spatula": [ + 290, + 408, + 402, + 596 + ], + "green bowl": [ + 564, + 507, + 790, + 742 + ], + "faucet": [ + 402, + 29, + 558, + 281 + ], + "red utensil": [ + 201, + 149, + 281, + 262 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the purple eggplant on the countertop and place it onto the green plate." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach eggplant" + }, + { + "id": 2, + "subtask": "grasp eggplant" + }, + { + "id": 3, + "subtask": "lift and reposition over plate" + } + ], + "subtask_name": "lift and reposition over plate", + "subtask_reasoning": "The robot has successfully grasped the purple eggplant from the countertop. It is currently lifting the object and moving it horizontally towards the green plate. The next action is to continue repositioning the eggplant until it is directly above the plate for placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 17 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 16, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001053_ecot.json b/cot/chunk-0001/episode_0001053_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f2600b5fbe1870eb4d56e6aa5f9461f6e0784224 --- /dev/null +++ b/cot/chunk-0001/episode_0001053_ecot.json @@ -0,0 +1,1315 @@ +{ + "task_name": "episode_0001053", + "episode_json": "json/chunk-0001/episode_0001053.json", + "video_path": "videos/chunk-0001/image_0/episode_0001053.mp4", + "instruction": "Move the cloth so its to the right of the spoon.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 21, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001053.json" + }, + "fps": 5.0, + "T_eff": 21, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006645917892456055, + "std": 0.0003319189418107271, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00033, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 4 + ], + [ + 2, + 5, + 17 + ], + [ + 3, + 18, + 20 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end-effector down toward the blue cloth without grasping.\"},\n {\"id\": 2, \"name\": \"push cloth right\", \"start\": 5, \"end\": 17, \"planning\": \"Make contact with the cloth and slide it to the right across the table surface.\"},\n {\"id\": 3, \"name\": \"release and retreat\", \"start\": 18, \"end\": 20, \"planning\": \"Lift the end-effector slightly and move away after repositioning the cloth.\"}\n ],\n \"global_plan\": \"Approach the cloth, push it to the right of the spoon using contact motion, then retreat.\",\n \"notes\": \"Gripper remains open throughout; no grasp or lift occurs. Motion is purely translational sliding via contact.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth", + "start": 0, + "end": 4, + "planning": "Move the end-effector down toward the blue cloth without grasping." + }, + { + "id": 2, + "name": "push cloth right", + "start": 5, + "end": 17, + "planning": "Make contact with the cloth and slide it to the right across the table surface." + }, + { + "id": 3, + "name": "release and retreat", + "start": 18, + "end": 20, + "planning": "Lift the end-effector slightly and move away after repositioning the cloth." + } + ], + "global_plan": "Approach the cloth, push it to the right of the spoon using contact motion, then retreat.", + "notes": "Gripper remains open throughout; no grasp or lift occurs. Motion is purely translational sliding via contact." + } + }, + "episode_goal": "Move the cloth so its to the right of the spoon.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3854599595069885, + 0.04222717508673668, + 0.12064877152442932, + 2.850908041000366, + -0.23536524176597595, + 1.3733001947402954 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the cloth and spoon visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 10 cm, tilt left 20 degrees, keep gripper open; then move back 3 cm, move right 7 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.38484829664230347, + 0.042087722569704056, + 0.1049707680940628, + 2.893772602081299, + -0.22207985818386078, + 1.3692076206207275 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is positioned above the table with the cloth and spoon visible; no contact has been made yet. The gripper remains open and stationary, indicating the approach phase is ongoing. The next action should be to move the end-effector closer to the cloth to initiate contact for pushing." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 9 cm, tilt left 10 degrees, keep gripper open; then move back 4 cm, move right 9 cm, move down 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3872489035129547, + 0.04543685540556908, + 0.07571809738874435, + 2.9953768253326416, + -0.21573922038078308, + 1.3555351495742798 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue cloth": [ + 398, + 253, + 676, + 508 + ], + "metal bowl": [ + 53, + 292, + 277, + 545 + ], + "wooden counter": [ + 8, + 124, + 922, + 964 + ], + "white appliance": [ + 290, + 1, + 684, + 231 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 6 cm, tilt left 10 degrees, keep gripper open; then move back 6 cm, move right 11 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.39091914892196655, + 0.047261618077754974, + 0.051025938242673874, + 3.060819625854492, + -0.2062433362007141, + 1.334355115890503 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, keep gripper open; then move back 7 cm, move right 12 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39295926690101624, + 0.049438491463661194, + 0.03554238751530647, + 3.105902910232544, + -0.20699664950370789, + 1.324655532836914 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach cloth", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 2 cm, keep gripper open; then move back 7 cm, move right 13 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3947080075740814, + 0.04837137833237648, + 0.0185102429240942, + -3.132967472076416, + -0.19447660446166992, + 1.3026365041732788 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 13 cm, move down 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3943018913269043, + 0.04507952183485031, + 0.018473729491233826, + -3.126274824142456, + -0.19060000777244568, + 1.2969642877578735 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 12 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3911283314228058, + 0.035672903060913086, + 0.014993030577898026, + -3.12418532371521, + -0.18009047210216522, + 1.2772513628005981 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move up 1 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3843984603881836, + 0.028600119054317474, + 0.013324507512152195, + -3.1242361068725586, + -0.1773432344198227, + 1.2545182704925537 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 6 cm, move right 10 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.37339627742767334, + 0.005202649161219597, + 0.012453997507691383, + -3.114931106567383, + -0.15942980349063873, + 1.200996994972229 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 8 cm, move up 3 cm, rotate counterclockwise 20 degrees, keep gripper open; then move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3611847758293152, + -0.02041684463620186, + 0.011526855640113354, + -3.10646653175354, + -0.13698233664035797, + 1.1289645433425903 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot is approaching the cloth on the table, with the spoon visible to its right. No contact has been made yet, and the gripper remains open. The next action is to continue moving toward the cloth to prepare for pushing it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 5 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3505445122718811, + -0.040481630712747574, + 0.010918994434177876, + -3.1087656021118164, + -0.1300358772277832, + 1.063625693321228 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3372950851917267, + -0.0613364651799202, + 0.01088719442486763, + -3.0996992588043213, + -0.12181267142295837, + 0.9733785390853882 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white appliance": [ + 290, + 2, + 646, + 238 + ], + "glass jar": [ + 776, + 126, + 927, + 335 + ], + "blue cloth": [ + 505, + 412, + 819, + 679 + ], + "wooden counter": [ + 8, + 125, + 922, + 964 + ], + "metal bowl": [ + 53, + 293, + 279, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.324508935213089, + -0.07517705112695694, + 0.010703099891543388, + -3.0901682376861572, + -0.12071352452039719, + 0.9065245389938354 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3213061988353729, + -0.07989832013845444, + 0.010749687440693378, + -3.0933761596679688, + -0.11596181243658066, + 0.8822907209396362 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.3232463300228119, + -0.08019071817398071, + 0.012605556286871433, + -3.0938243865966797, + -0.11471361666917801, + 0.885606050491333 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3254731595516205, + -0.07712982594966888, + 0.013707461766898632, + -3.0931832790374756, + -0.12500840425491333, + 0.8857663869857788 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 3 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.32566943764686584, + -0.07522071152925491, + 0.020069045946002007, + -3.101590633392334, + -0.13433504104614258, + 0.890041172504425 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "push cloth right", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 17 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 17 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3246738910675049, + -0.07387373596429825, + 0.04212478920817375, + 3.1315300464630127, + -0.1605331301689148, + 0.9070335626602173 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The robot's end-effector is in contact with the blue cloth, positioned to push it rightward relative to the spoon. The gripper remains open, confirming a pushing motion rather than grasping. The next action is to continue sliding the cloth to the right until it clears the spoon." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 11 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.32102590799331665, + -0.07178233563899994, + 0.06753131002187729, + 3.0693295001983643, + -0.18954333662986755, + 0.9243598580360413 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "white appliance": [ + 290, + 2, + 672, + 237 + ], + "blue cloth": [ + 527, + 443, + 846, + 754 + ], + "glass jar": [ + 780, + 126, + 928, + 335 + ], + "wooden counter": [ + 10, + 124, + 924, + 965 + ], + "metal bowl": [ + 52, + 292, + 279, + 545 + ] + } + } + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been successfully pushed to the right of the spoon. The robot's gripper is open and positioned above the objects, indicating the pushing action is complete. The next step is to retreat the arm away from the scene to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3194786012172699, + -0.07171174138784409, + 0.08206488937139511, + 3.0299620628356934, + -0.20186516642570496, + 0.9275115132331848 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the cloth so its to the right of the spoon." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth" + }, + { + "id": 2, + "subtask": "push cloth right" + }, + { + "id": 3, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The cloth has been successfully pushed to the right of the spoon. The robot's gripper is open and positioned above the objects, indicating the pushing action is complete. The next step is to retreat the arm away from the scene to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 19 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 18, + "end": 20 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001056_ecot.json b/cot/chunk-0001/episode_0001056_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..f86005c6ccb7d0abfec2ec741b4de30679c6f2d8 --- /dev/null +++ b/cot/chunk-0001/episode_0001056_ecot.json @@ -0,0 +1,755 @@ +{ + "task_name": "episode_0001056", + "episode_json": "json/chunk-0001/episode_0001056.json", + "video_path": "videos/chunk-0001/image_0/episode_0001056.mp4", + "instruction": "Pick up pan from stove.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 12, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001056.json" + }, + "fps": 5.0, + "T_eff": 12, + "gripper_behavior_summary": { + "available": true, + "range": 0.9388048648834229, + "std": 0.4210388660430908, + "delta_total": -0.9388048648834229, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93880, std=0.42104, total_delta=-0.93880). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 6, + 6, + 6, + 6, + 6, + 6 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 11 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pan\", \"start\": 0, \"end\": 4, \"planning\": \"Move end-effector toward the pan on the stove while keeping gripper open.\"},\n {\"id\": 2, \"name\": \"close gripper on pan\", \"start\": 5, \"end\": 7, \"planning\": \"Close gripper around pan handle as contact is made and grip tightens.\"},\n {\"id\": 3, \"name\": \"lift pan from stove\", \"start\": 8, \"end\": 11, \"planning\": \"Lift pan vertically off the stove burner while maintaining secure grip.\"}\n ],\n \"global_plan\": \"Approach the pan on the stove, close gripper to grasp it securely, then lift it off the burner.\",\n \"notes\": \"Segment 1 (frames 0-5) shows initial approach with gripper closing starting at frame 5; Segment 2 (frames 6-11) confirms continued closing and lifting motion. Gripper values drop significantly in both segments, supporting grasp and lift actions. Images show pan being engaged and lifted.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pan", + "start": 0, + "end": 4, + "planning": "Move end-effector toward the pan on the stove while keeping gripper open." + }, + { + "id": 2, + "name": "close gripper on pan", + "start": 5, + "end": 7, + "planning": "Close gripper around pan handle as contact is made and grip tightens." + }, + { + "id": 3, + "name": "lift pan from stove", + "start": 8, + "end": 11, + "planning": "Lift pan vertically off the stove burner while maintaining secure grip." + } + ], + "global_plan": "Approach the pan on the stove, close gripper to grasp it securely, then lift it off the burner.", + "notes": "Segment 1 (frames 0-5) shows initial approach with gripper closing starting at frame 5; Segment 2 (frames 6-11) confirms continued closing and lifting motion. Gripper values drop significantly in both segments, supporting grasp and lift actions. Images show pan being engaged and lifted." + } + }, + "episode_goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3386434018611908, + 0.08510317653417587, + 0.05402559041976929, + -2.964132070541382, + 0.016455795615911484, + -1.583475947380066 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move forward 1 cm, move left 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.33459359407424927, + 0.0818541869521141, + 0.0419592522084713, + -3.0049655437469482, + -0.012661530636250973, + -1.5800776481628418 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot is positioned near the stove with the silver pan visible on the left burner. No movement or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should be to move the end effector closer to the pan’s handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then keep gripper closed; then move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.33416426181793213, + 0.08147821575403214, + 0.04144608601927757, + -3.0068247318267822, + -0.02157803624868393, + -1.5787954330444336 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end-effector hovering near the silver pan on the left burner. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm slightly to align with the pan handle for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move down 1 cm, close gripper; then keep gripper closed; then move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3316769599914551, + 0.07999507337808609, + 0.03615053370594978, + -3.0027339458465576, + -0.01798892207443714, + -1.562880516052246 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end-effector hovering near the silver pan on the left burner. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm slightly to align with the pan handle for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, close gripper; then keep gripper closed; then move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3281382620334625, + 0.07735869288444519, + 0.02999640628695488, + -3.0008699893951416, + -0.01793191395699978, + -1.5452715158462524 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "onion": [ + 566, + 48, + 666, + 149 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "approach pan", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end-effector hovering near the silver pan on the left burner. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm slightly to align with the pan handle for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then keep gripper closed; then move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.32790428400039673, + 0.0781315341591835, + 0.028275707736611366, + -2.9950225353240967, + -0.006183421239256859, + -1.5370643138885498 + ], + "gripper_value": 0.8007952570915222 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "close gripper on pan", + "subtask_reasoning": "The robot arm is positioned above the stove, with the end-effector hovering near the silver pan on the left burner. No grasping action has occurred yet as the gripper remains open. The next step is to lower the arm slightly to align with the pan handle for a secure grasp." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.32851532101631165, + 0.07827484607696533, + 0.02802584506571293, + -2.992924928665161, + 0.010201225988566875, + -1.5387790203094482 + ], + "gripper_value": 0.4747070372104645 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "close gripper on pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the handle of the silver pan on the left burner. The gripper is currently open and aligned with the handle, ready to close. The next action is to close the gripper to securely grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3294373154640198, + 0.07795396447181702, + 0.028632765635848045, + -2.9884440898895264, + 0.018238617107272148, + -1.5458016395568848 + ], + "gripper_value": 0.20989185571670532 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "close gripper on pan", + "subtask_reasoning": "The robot's end-effector is positioned directly above the handle of the silver pan on the left burner. The gripper is currently open and aligned with the handle, ready to close. The next action is to close the gripper to securely grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 7 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 7 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.3302838206291199, + 0.07631587982177734, + 0.02895531989634037, + -2.9898622035980225, + 0.03164086490869522, + -1.5668437480926514 + ], + "gripper_value": 0.08055824041366577 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The robot's end-effector is positioned directly above the handle of the silver pan on the left burner. The gripper is currently open and aligned with the handle, ready to close. The next action is to close the gripper to securely grasp the pan handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3338961899280548, + 0.07857782393693924, + 0.033421095460653305, + -2.990691661834717, + 0.04153219237923622, + -1.6126742362976074 + ], + "gripper_value": 0.06681985408067703 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The robot has approached the silver pan on the left burner and closed its gripper around the handle. The current frame shows the gripper in contact with the pan handle, and the segment-level gripper evidence supports a grasp. The next action is to lift the pan vertically off the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.338692307472229, + 0.08318346738815308, + 0.04206138849258423, + -2.988677740097046, + 0.050794702023267746, + -1.648205280303955 + ], + "gripper_value": 0.065320685505867 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "onion": [ + 567, + 47, + 665, + 148 + ], + "bell pepper": [ + 877, + 401, + 995, + 579 + ] + } + } + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The robot has approached the silver pan on the left burner and closed its gripper around the handle. The current frame shows the gripper in contact with the pan handle, and the segment-level gripper evidence supports a grasp. The next action is to lift the pan vertically off the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.34395870566368103, + 0.08080722391605377, + 0.05991225317120552, + -2.93794846534729, + 0.09550832957029343, + -1.6559690237045288 + ], + "gripper_value": 0.06267260015010834 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Grasp the handle of the silver pan on the left burner and lift it vertically off the stove." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pan" + }, + { + "id": 2, + "subtask": "close gripper on pan" + }, + { + "id": 3, + "subtask": "lift pan from stove" + } + ], + "subtask_name": "lift pan from stove", + "subtask_reasoning": "The robot has approached the silver pan on the left burner and closed its gripper around the handle. The current frame shows the gripper in contact with the pan handle, and the segment-level gripper evidence supports a grasp. The next action is to lift the pan vertically off the stove." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed", + "waypoint_px": {}, + "subtask_end": 11 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 8, + "end": 11 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001057_ecot.json b/cot/chunk-0001/episode_0001057_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..02a23d2885da7b14e1a88d84a6d7bc6626aee12b --- /dev/null +++ b/cot/chunk-0001/episode_0001057_ecot.json @@ -0,0 +1,3206 @@ +{ + "task_name": "episode_0001057", + "episode_json": "json/chunk-0001/episode_0001057.json", + "video_path": "videos/chunk-0001/image_0/episode_0001057.mp4", + "instruction": "Move the red pot to the right burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 47, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001057.json" + }, + "fps": 5.0, + "T_eff": 47, + "gripper_behavior_summary": { + "available": true, + "range": 0.9404687881469727, + "std": 0.4206213653087616, + "delta_total": 0.0006708502769470215, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94047, std=0.42062, total_delta=0.00067). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 400, + 400, + 400, + 400, + 417, + 417, + 417, + 417, + 517, + 517, + 517, + 517, + 517, + 517, + 517, + 517, + 317, + 317, + 317, + 317, + 317, + 334, + 334, + 334, + 334, + 234, + 234, + 234, + 134, + 134, + 134, + 134, + 134, + 134 + ], + "seg_spans": [ + [ + 1, + 0, + 12 + ], + [ + 2, + 13, + 16 + ], + [ + 3, + 17, + 20 + ], + [ + 4, + 21, + 28 + ], + [ + 5, + 29, + 33 + ], + [ + 6, + 34, + 37 + ], + [ + 7, + 38, + 40 + ], + [ + 8, + 41, + 46 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach red pot\", \"start\": 0, \"end\": 12, \"planning\": \"Move the end-effector toward the red pot on the left burner without grasping.\"},\n {\"id\": 2, \"name\": \"grasp red pot\", \"start\": 13, \"end\": 20, \"planning\": \"Close the gripper to securely grasp the red pot, confirmed by significant gripper closure and visual contact.\"},\n {\"id\": 3, \"name\": \"lift and translate red pot\", \"start\": 21, \"end\": 33, \"planning\": \"Lift the red pot slightly and move it horizontally toward the right burner while maintaining grip.\"},\n {\"id\": 4, \"name\": \"release red pot on right burner\", \"start\": 34, \"end\": 37, \"planning\": \"Open the gripper to release the red pot onto the right burner, confirmed by gripper opening and stable placement.\"},\n {\"id\": 5, \"name\": \"retreat from stove\", \"start\": 38, \"end\": 46, \"planning\": \"Move the end-effector away from the stove area after releasing the pot, with no further manipulation.\"}\n ],\n \"global_plan\": \"Approach the red pot on the left burner, grasp it, lift and translate it to the right burner, release it there, then retreat.\",\n \"notes\": \"Gripper evidence confirms meaningful closing in segments 2 and 4 (frames 13-20 and 34-37), allowing grasp/release terminology. Segments 1, 5, and 8 show no gripper activity, so only motion-based descriptions are used.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach red pot", + "start": 0, + "end": 12, + "planning": "Move the end-effector toward the red pot on the left burner without grasping." + }, + { + "id": 2, + "name": "grasp red pot", + "start": 13, + "end": 20, + "planning": "Close the gripper to securely grasp the red pot, confirmed by significant gripper closure and visual contact." + }, + { + "id": 3, + "name": "lift and translate red pot", + "start": 21, + "end": 33, + "planning": "Lift the red pot slightly and move it horizontally toward the right burner while maintaining grip." + }, + { + "id": 4, + "name": "release red pot on right burner", + "start": 34, + "end": 37, + "planning": "Open the gripper to release the red pot onto the right burner, confirmed by gripper opening and stable placement." + }, + { + "id": 5, + "name": "retreat from stove", + "start": 38, + "end": 46, + "planning": "Move the end-effector away from the stove area after releasing the pot, with no further manipulation." + } + ], + "global_plan": "Approach the red pot on the left burner, grasp it, lift and translate it to the right burner, release it there, then retreat.", + "notes": "Gripper evidence confirms meaningful closing in segments 2 and 4 (frames 13-20 and 34-37), allowing grasp/release terminology. Segments 1, 5, and 8 show no gripper activity, so only motion-based descriptions are used." + } + }, + "episode_goal": "Move the red pot to the right burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.27456772327423096, + 0.06296120584011078, + 0.02893281728029251, + -2.891681671142578, + -0.19929012656211853, + -0.13027659058570862 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2773147523403168, + 0.06252933293581009, + 0.03008560836315155, + -2.895287036895752, + -0.20914532244205475, + -0.1263507902622223 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.28086572885513306, + 0.06533059477806091, + 0.03240183740854263, + -2.913771867752075, + -0.20927780866622925, + -0.12949341535568237 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move up 4 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2820598781108856, + 0.06699590384960175, + 0.035468690097332, + -2.914889335632324, + -0.15760596096515656, + -0.13037674129009247 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "grey sink": [ + 808, + 454, + 996, + 987 + ], + "green plush toy": [ + 526, + 501, + 633, + 678 + ], + "blue plush toy": [ + 348, + 423, + 538, + 598 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move right 2 cm, move up 3 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2863408029079437, + 0.06695331633090973, + 0.04247875139117241, + -2.916645050048828, + -0.1299748420715332, + -0.12525753676891327 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 2 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.29090189933776855, + 0.06313180178403854, + 0.049222834408283234, + -2.914865732192993, + -0.11909313499927521, + -0.12921203672885895 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot arm is positioned above the stove, with the red pot visible on the left burner. No movement or grasping has occurred yet. The next action should be to move the arm closer to the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 2 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.29120582342147827, + 0.05829130858182907, + 0.049131330102682114, + -2.916212558746338, + -0.11667390912771225, + -0.1360154151916504 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.28996890783309937, + 0.052537210285663605, + 0.04926435276865959, + -2.9239706993103027, + -0.10457616299390793, + -0.13120800256729126 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move forward 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.30233457684516907, + 0.04921652376651764, + 0.0632489025592804, + -2.977125406265259, + -0.11289903521537781, + -0.15827417373657227 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 1 cm, tilt back 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.32566672563552856, + 0.047086264938116074, + 0.06933695822954178, + -3.0357799530029297, + -0.12387050688266754, + -0.16130831837654114 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green plush toy": [ + 526, + 501, + 633, + 678 + ], + "blue plush toy": [ + 352, + 429, + 544, + 605 + ], + "grey sink": [ + 809, + 454, + 996, + 987 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move down 3 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3357996344566345, + 0.047817885875701904, + 0.07354151457548141, + -3.0608084201812744, + -0.13791202008724213, + -0.17456375062465668 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move down 1 cm, tilt back 10 degrees, keep gripper open; then move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.3382575809955597, + 0.048405345529317856, + 0.07058790326118469, + -3.0490822792053223, + -0.1629898101091385, + -0.21966858208179474 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3459445834159851, + 0.04587217792868614, + 0.07058241963386536, + -3.031186103820801, + -0.21602164208889008, + -0.2582835257053375 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "approach red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.35086849331855774, + 0.04335212707519531, + 0.06325889378786087, + -3.013798475265503, + -0.24624964594841003, + -0.261574387550354 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 2 cm, close gripper; then move back 2 cm, move right 2 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.35423538088798523, + 0.04117939993739128, + 0.052660152316093445, + -3.014970541000366, + -0.25738921761512756, + -0.246839240193367 + ], + "gripper_value": 0.9968144297599792 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, move down 1 cm, keep gripper closed; then move back 3 cm, move right 3 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.35537275671958923, + 0.040060460567474365, + 0.04145673289895058, + -3.0102126598358154, + -0.26821771264076233, + -0.2353363335132599 + ], + "gripper_value": 0.9522681832313538 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot is positioned above the stove with the red pot visible on the left burner. The gripper is open and no contact has been made yet. The next action should be to lower the end-effector toward the red pot to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 3 cm, move right 4 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3586973249912262, + 0.04057949781417847, + 0.03840044513344765, + -3.0033586025238037, + -0.28297439217567444, + -0.22766251862049103 + ], + "gripper_value": 0.6811928749084473 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 4 cm, move right 5 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3590972423553467, + 0.039630383253097534, + 0.038172654807567596, + -3.015892505645752, + -0.28740760684013367, + -0.2045537382364273 + ], + "gripper_value": 0.3901194632053375 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 4 cm, move right 6 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3581492304801941, + 0.03734781965613365, + 0.03754543140530586, + -3.023355722427368, + -0.2832859754562378, + -0.20021815598011017 + ], + "gripper_value": 0.18403103947639465 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper closed; then move back 4 cm, move right 7 cm, move up 2 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3544602394104004, + 0.03314623981714249, + 0.03707108646631241, + -3.024430513381958, + -0.2803841531276703, + -0.21087056398391724 + ], + "gripper_value": 0.10198938846588135 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 4 cm, move right 8 cm, move up 1 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.3520267605781555, + 0.031172089278697968, + 0.038474295288324356, + -3.028346061706543, + -0.2834440767765045, + -0.20327509939670563 + ], + "gripper_value": 0.07429859787225723 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "grasp red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, keep gripper closed; then move back 4 cm, move right 8 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 13, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3457449674606323, + 0.02850370667874813, + 0.04121856763958931, + -3.0506339073181152, + -0.28139206767082214, + -0.1788610965013504 + ], + "gripper_value": 0.0665184035897255 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move right 8 cm, tilt left 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.3359425365924835, + 0.024121398106217384, + 0.04320799559354782, + -3.0512170791625977, + -0.23191222548484802, + -0.17782233655452728 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 8 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.3262712061405182, + 0.013456272892653942, + 0.053759779781103134, + -3.0391252040863037, + -0.20139175653457642, + -0.17976446449756622 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 6 cm, move down 1 cm, tilt left 10 degrees, tilt back 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.3202713429927826, + 0.0026589734479784966, + 0.06329700350761414, + -3.0102834701538086, + -0.19817911088466644, + -0.19100940227508545 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move down 2 cm, open gripper", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3146582543849945, + -0.0085575757548213, + 0.06775084882974625, + -2.9845821857452393, + -0.2026275396347046, + -0.19991740584373474 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 4 cm, move down 2 cm, open gripper; then keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.30883148312568665, + -0.01978936418890953, + 0.06546717137098312, + -2.979017972946167, + -0.19390277564525604, + -0.2000364065170288 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The robot has approached the red pot on the left burner and is now in contact with it. The gripper is partially closed around the pot, indicating an ongoing grasp attempt. The next action is to fully close the gripper to secure the pot before lifting." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 3 cm, move down 2 cm, open gripper; then move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3050456643104553, + -0.03249847888946533, + 0.061870478093624115, + -2.9568867683410645, + -0.20912444591522217, + -0.19042719900608063 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 353, + 435, + 544, + 605 + ], + "grey sink": [ + 808, + 455, + 996, + 986 + ], + "green plush toy": [ + 526, + 502, + 633, + 678 + ], + "yellow toy food": [ + 357, + 259, + 521, + 383 + ], + "white spatula": [ + 297, + 142, + 450, + 266 + ], + "red frying pan": [ + 292, + 143, + 558, + 424 + ], + "toy stove": [ + 128, + 108, + 821, + 764 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 2 cm, move down 2 cm, open gripper; then move back 1 cm, move up 1 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3029930591583252, + -0.04428383335471153, + 0.056801632046699524, + -2.9351956844329834, + -0.24468262493610382, + -0.19433623552322388 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 354, + 440, + 550, + 617 + ], + "grey sink": [ + 809, + 455, + 996, + 986 + ], + "green plush toy": [ + 526, + 502, + 633, + 677 + ], + "yellow toy food": [ + 382, + 289, + 547, + 418 + ], + "red frying pan": [ + 315, + 162, + 612, + 490 + ], + "white spatula": [ + 314, + 160, + 465, + 290 + ], + "toy stove": [ + 128, + 109, + 820, + 763 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.3054295778274536, + -0.051854848861694336, + 0.053858041763305664, + -2.9173038005828857, + -0.2926650047302246, + -0.20684382319450378 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, open gripper; then move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.3080989122390747, + -0.05382459610700607, + 0.04471120610833168, + -2.9035072326660156, + -0.3064730167388916, + -0.21910101175308228 + ], + "gripper_value": 0.05701649188995361 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 1 cm, move left 2 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.31174880266189575, + -0.05384403094649315, + 0.039485443383455276, + -2.8985562324523926, + -0.31982290744781494, + -0.22478994727134705 + ], + "gripper_value": 0.07270156592130661 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 3 cm, move left 3 cm, move up 3 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.31445208191871643, + -0.050957001745700836, + 0.0382862351834774, + -2.9037930965423584, + -0.3270048201084137, + -0.2214975655078888 + ], + "gripper_value": 0.21544429659843445 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 4 cm, move left 5 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.314289391040802, + -0.048483047634363174, + 0.03938482701778412, + -2.9153544902801514, + -0.30719733238220215, + -0.1996690034866333 + ], + "gripper_value": 0.4615449905395508 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "lift and translate red pot", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 1 cm, keep gripper open; then move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 5 cm, move left 7 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 33 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 21, + "end": 33 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.31622233986854553, + -0.04948844388127327, + 0.045237306505441666, + -2.9292984008789062, + -0.28463616967201233, + -0.17232146859169006 + ], + "gripper_value": 0.7623518109321594 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "release red pot on right burner", + "subtask_reasoning": "The red pot is currently grasped and lifted above the left burner. The robot has completed approaching and grasping the pot. The next action is to translate the pot horizontally toward the right burner while maintaining a stable grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.31534597277641296, + -0.04959237575531006, + 0.04770863428711891, + -2.9330875873565674, + -0.2604529857635498, + -0.16744476556777954 + ], + "gripper_value": 0.9872581958770752 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "release red pot on right burner", + "subtask_reasoning": "The red pot is currently positioned over the right burner, with the gripper still holding it. The gripper value indicates it is open, suggesting the pot has been released or is in the process of being released. The next action should confirm the release and ensure the pot is stable on the burner before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 2 cm, tilt forward 10 degrees, keep gripper open; then move back 6 cm, move left 11 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.31700435280799866, + -0.0500856451690197, + 0.05460985377430916, + -2.935257911682129, + -0.23382480442523956, + -0.15878765285015106 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "release red pot on right burner", + "subtask_reasoning": "The red pot is currently positioned over the right burner, with the gripper still holding it. The gripper value indicates it is open, suggesting the pot has been released or is in the process of being released. The next action should confirm the release and ensure the pot is stable on the burner before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 1 cm, move up 1 cm, keep gripper open; then move back 5 cm, move left 12 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + }, + { + "t": 37, + "state_action_evidence": { + "ee_state_6d": [ + 0.3101319968700409, + -0.04703950136899948, + 0.05386841669678688, + -2.9486188888549805, + -0.1869186908006668, + -0.1416414976119995 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "release red pot on right burner", + "subtask_reasoning": "The red pot is currently positioned over the right burner, with the gripper still holding it. The gripper value indicates it is open, suggesting the pot has been released or is in the process of being released. The next action should confirm the release and ensure the pot is stable on the burner before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move up 2 cm, keep gripper open; then move back 5 cm, move left 12 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 37 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 34, + "end": 37 + } + }, + { + "t": 38, + "state_action_evidence": { + "ee_state_6d": [ + 0.30884620547294617, + -0.04403221234679222, + 0.06956201046705246, + -2.962311029434204, + -0.1751064658164978, + -0.13866165280342102 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot is currently positioned over the right burner, with the gripper still holding it. The gripper value indicates it is open, suggesting the pot has been released or is in the process of being released. The next action should confirm the release and ensure the pot is stable on the burner before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 39, + "state_action_evidence": { + "ee_state_6d": [ + 0.30271512269973755, + -0.03818873316049576, + 0.07467880100011826, + -2.956909418106079, + -0.12439785152673721, + -0.1519809067249298 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot is currently positioned over the right burner, with the gripper still holding it. The gripper value indicates it is open, suggesting the pot has been released or is in the process of being released. The next action should confirm the release and ensure the pot is stable on the burner before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 12 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 40, + "state_action_evidence": { + "ee_state_6d": [ + 0.2952116131782532, + -0.028880180791020393, + 0.09270699322223663, + -2.955228805541992, + -0.14102745056152344, + -0.18226327002048492 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot is currently positioned over the right burner, with the gripper still holding it. The gripper value indicates it is open, suggesting the pot has been released or is in the process of being released. The next action should confirm the release and ensure the pot is stable on the burner before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 11 cm, move up 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 41, + "state_action_evidence": { + "ee_state_6d": [ + 0.2808764576911926, + -0.01190114114433527, + 0.09887075424194336, + -2.9511125087738037, + -0.11644507944583893, + -0.21920590102672577 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot is currently positioned over the right burner, with the gripper still holding it. The gripper value indicates it is open, suggesting the pot has been released or is in the process of being released. The next action should confirm the release and ensure the pot is stable on the burner before retreating." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move up 1 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 35 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 42, + "state_action_evidence": { + "ee_state_6d": [ + 0.26600316166877747, + 0.008575640618801117, + 0.1073073148727417, + -2.9379513263702393, + -0.09289656579494476, + -0.2586972117424011 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "blue plush toy": [ + 356, + 437, + 550, + 619 + ], + "red frying pan": [ + 440, + 291, + 681, + 512 + ], + "grey sink": [ + 808, + 455, + 996, + 986 + ], + "green plush toy": [ + 527, + 504, + 633, + 677 + ], + "white spatula": [ + 351, + 221, + 440, + 317 + ] + } + } + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot has been successfully moved to the right burner and released. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 7 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 43, + "state_action_evidence": { + "ee_state_6d": [ + 0.25838080048561096, + 0.02597816288471222, + 0.1109481155872345, + -2.923799991607666, + -0.08660205453634262, + -0.2796209752559662 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot has been successfully moved to the right burner and released. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 5 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 44, + "state_action_evidence": { + "ee_state_6d": [ + 0.251074880361557, + 0.04521944746375084, + 0.1066083312034607, + -2.910238265991211, + -0.058233655989170074, + -0.30141395330429077 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot has been successfully moved to the right burner and released. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 45, + "state_action_evidence": { + "ee_state_6d": [ + 0.2501818537712097, + 0.06390076875686646, + 0.10664422065019608, + -2.9102094173431396, + -0.061991870403289795, + -0.315163791179657 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot has been successfully moved to the right burner and released. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + }, + { + "t": 46, + "state_action_evidence": { + "ee_state_6d": [ + 0.2556898593902588, + 0.07996998727321625, + 0.11151019483804703, + -2.9220762252807617, + -0.07675635069608688, + -0.3337753713130951 + ], + "gripper_value": 0.9974852800369263 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the red pot to the right burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach red pot" + }, + { + "id": 2, + "subtask": "grasp red pot" + }, + { + "id": 3, + "subtask": "lift and translate red pot" + }, + { + "id": 4, + "subtask": "release red pot on right burner" + }, + { + "id": 5, + "subtask": "retreat from stove" + } + ], + "subtask_name": "retreat from stove", + "subtask_reasoning": "The red pot has been successfully moved to the right burner and released. The robot arm is currently positioned above the stove with the gripper open, indicating the placement is complete. The next action is to retreat the arm away from the stove area to finish the task." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 46 + }, + "cache_ref": { + "anchor_ref_reasoning": 42 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 38, + "end": 46 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001059_ecot.json b/cot/chunk-0001/episode_0001059_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..33a09d76bafbf13951935dbf9a8c7431badc6697 --- /dev/null +++ b/cot/chunk-0001/episode_0001059_ecot.json @@ -0,0 +1,1786 @@ +{ + "task_name": "episode_0001059", + "episode_json": "json/chunk-0001/episode_0001059.json", + "video_path": "videos/chunk-0001/image_0/episode_0001059.mp4", + "instruction": "Move the silver pot to the lower left burner.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 26, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001059.json" + }, + "fps": 5.0, + "T_eff": 26, + "gripper_behavior_summary": { + "available": true, + "range": 0.9315555691719055, + "std": 0.41742199659347534, + "delta_total": -0.001993715763092041, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.93156, std=0.41742, total_delta=-0.00199). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 0, + 200, + 200, + 200, + 200, + 0, + 0, + 7, + 7, + 7, + 7, + 7, + 7, + 7, + 107, + 107, + 107, + 107, + 107, + 107, + 107, + 121, + 121, + 121, + 121, + 121 + ], + "seg_spans": [ + [ + 1, + 0, + 0 + ], + [ + 2, + 1, + 4 + ], + [ + 3, + 5, + 6 + ], + [ + 4, + 7, + 13 + ], + [ + 5, + 14, + 20 + ], + [ + 6, + 21, + 25 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach pot\", \"start\": 0, \"end\": 4, \"planning\": \"Move the end effector toward the silver pot on the countertop without grasping.\"},\n {\"id\": 2, \"name\": \"grasp pot handle\", \"start\": 5, \"end\": 6, \"planning\": \"Close the gripper around the pot's handle to secure a firm hold.\"},\n {\"id\": 3, \"name\": \"lift and transport pot\", \"start\": 7, \"end\": 20, \"planning\": \"Lift the pot and move it across the stove surface toward the lower left burner.\"},\n {\"id\": 4, \"name\": \"place pot on burner\", \"start\": 21, \"end\": 23, \"planning\": \"Lower the pot onto the lower left burner while maintaining grip until contact is stable.\"},\n {\"id\": 5, \"name\": \"release and retreat\", \"start\": 24, \"end\": 25, \"planning\": \"Open the gripper to release the pot and withdraw the end effector slightly.\"}\n ],\n \"global_plan\": \"Approach the silver pot, grasp its handle, lift and carry it to the lower left burner, place it down, then release and retreat.\",\n \"notes\": \"Subtasks align with observed gripper closure (segments 3,4,6) and motion phases; frame coverage is contiguous from 0 to 25.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach pot", + "start": 0, + "end": 4, + "planning": "Move the end effector toward the silver pot on the countertop without grasping." + }, + { + "id": 2, + "name": "grasp pot handle", + "start": 5, + "end": 6, + "planning": "Close the gripper around the pot's handle to secure a firm hold." + }, + { + "id": 3, + "name": "lift and transport pot", + "start": 7, + "end": 20, + "planning": "Lift the pot and move it across the stove surface toward the lower left burner." + }, + { + "id": 4, + "name": "place pot on burner", + "start": 21, + "end": 23, + "planning": "Lower the pot onto the lower left burner while maintaining grip until contact is stable." + }, + { + "id": 5, + "name": "release and retreat", + "start": 24, + "end": 25, + "planning": "Open the gripper to release the pot and withdraw the end effector slightly." + } + ], + "global_plan": "Approach the silver pot, grasp its handle, lift and carry it to the lower left burner, place it down, then release and retreat.", + "notes": "Subtasks align with observed gripper closure (segments 3,4,6) and motion phases; frame coverage is contiguous from 0 to 25." + } + }, + "episode_goal": "Move the silver pot to the lower left burner.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.3638462722301483, + -0.046949636191129684, + 0.013196658343076706, + 3.1403000354766846, + -0.18464511632919312, + 0.15624700486660004 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible on the right side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 6 cm, close gripper; then keep gripper closed; then move forward 2 cm, move left 2 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.358149915933609, + -0.046077851206064224, + -0.00020549444889184088, + -3.1308884620666504, + -0.1466437578201294, + 0.15578177571296692 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the countertop with the silver pot visible on the right side. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end effector closer to the pot's handle to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 5 cm, close gripper; then keep gripper closed; then move forward 4 cm, move left 5 cm, move up 4 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.3585766553878784, + -0.050113312900066376, + -0.013446200639009476, + -3.1264073848724365, + -0.15371723473072052, + 0.14467783272266388 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower right burner. The gripper is open and approaching the pot handle, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 3 cm, close gripper; then keep gripper closed; then move forward 6 cm, move left 9 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.35897573828697205, + -0.05191810056567192, + -0.026074865832924843, + -3.1338589191436768, + -0.14973966777324677, + 0.15023468434810638 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower right burner. The gripper is open and approaching the pot handle, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 2 cm, close gripper; then keep gripper closed; then move forward 6 cm, move left 13 cm, move up 6 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.3619932532310486, + -0.054253485053777695, + -0.041887395083904266, + -3.1414644718170166, + -0.13393212854862213, + 0.15618187189102173 + ], + "gripper_value": 0.9981546401977539 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "burner": [ + 247, + 262, + 430, + 433 + ], + "pot": [ + 532, + 392, + 730, + 610 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "approach pot", + "subtask_reasoning": "The robot is positioned above the stove with the silver pot visible on the lower right burner. The gripper is open and approaching the pot handle, indicating the approach phase is underway. No contact or grasp has occurred yet; the next action is to align the gripper with the pot handle for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move down 1 cm, keep gripper closed; then keep gripper closed; then move forward 6 cm, move left 18 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 4 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 4 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.37008044123649597, + -0.058544840663671494, + -0.04843538627028465, + 3.123342275619507, + -0.13330495357513428, + 0.15187712013721466 + ], + "gripper_value": 0.9422301650047302 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 4 cm, move left 21 cm, move up 5 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 5, + "end": 6 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.3726685047149658, + -0.05764634162187576, + -0.048141226172447205, + 3.124321937561035, + -0.13669128715991974, + 0.14771588146686554 + ], + "gripper_value": 0.6631406545639038 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "grasp pot handle", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 3 cm, move left 23 cm, move up 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 6 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 5, + "end": 6 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.37308600544929504, + -0.05668758228421211, + -0.048425108194351196, + 3.1266720294952393, + -0.13677163422107697, + 0.12725649774074554 + ], + "gripper_value": 0.36865687370300293 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 24 cm, move up 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37452414631843567, + -0.05559252202510834, + -0.04725673794746399, + 3.124846935272217, + -0.14059697091579437, + 0.11718800663948059 + ], + "gripper_value": 0.15616591274738312 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move left 24 cm, move up 1 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 40 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.38215020298957825, + -0.05360855534672737, + -0.04225018620491028, + 3.1222598552703857, + -0.15729939937591553, + 0.11985021084547043 + ], + "gripper_value": 0.08259850740432739 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 24 cm, tilt left 10 degrees, rotate clockwise 40 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.3968736231327057, + -0.04127794876694679, + -0.028655672445893288, + 3.1412839889526367, + -0.19116336107254028, + 0.17354901134967804 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 22 cm, move down 1 cm, tilt left 10 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.413479745388031, + -0.010428501293063164, + -0.007159625180065632, + 3.130939483642578, + -0.24605169892311096, + 0.3152635395526886 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 18 cm, move down 3 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.4283595681190491, + 0.032863546162843704, + 0.01037601474672556, + 3.1229441165924072, + -0.28750163316726685, + 0.46285906434059143 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "pot": [ + 474, + 223, + 646, + 414 + ], + "spatula": [ + 702, + 244, + 793, + 353 + ], + "oven door": [ + 182, + 615, + 541, + 992 + ], + "sink": [ + 686, + 465, + 994, + 966 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot arm is positioned above the silver pot with the gripper open and aligned with the handle. The approach phase is complete, and the gripper is ready to close. The next action is to close the gripper to grasp the pot handle." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 14 cm, move down 5 cm, tilt left 10 degrees, rotate clockwise 20 degrees, open gripper; then move right 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 5 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.43469929695129395, + 0.07792668044567108, + 0.011231078766286373, + 3.134080410003662, + -0.30006900429725647, + 0.556853175163269 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 9 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move right 3 cm, move up 5 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.4284883439540863, + 0.12450389564037323, + 0.0013977227499708533, + -3.127368688583374, + -0.2866963744163513, + 0.6511644124984741 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 5 cm, move down 4 cm, tilt forward 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.41698479652404785, + 0.1538633555173874, + -0.001987142488360405, + -3.1082866191864014, + -0.27897128462791443, + 0.710303008556366 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move left 2 cm, move down 4 cm, open gripper; then move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.4076622426509857, + 0.17385490238666534, + -0.007279059384018183, + -3.0974466800689697, + -0.27032163739204407, + 0.7524083852767944 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 3 cm, open gripper; then move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.40041786432266235, + 0.17917142808437347, + -0.024457372725009918, + -3.0776326656341553, + -0.2239256203174591, + 0.76946622133255 + ], + "gripper_value": 0.06926051527261734 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.40257003903388977, + 0.18052133917808533, + -0.03837497532367706, + -3.0709102153778076, + -0.191526859998703, + 0.7776476144790649 + ], + "gripper_value": 0.06956923007965088 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.4062653183937073, + 0.18144486844539642, + -0.041139476001262665, + -3.0722062587738037, + -0.18694449961185455, + 0.7771539092063904 + ], + "gripper_value": 0.09437843412160873 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.40822312235832214, + 0.17924344539642334, + -0.04138680920004845, + -3.0787909030914307, + -0.19168128073215485, + 0.7704259753227234 + ], + "gripper_value": 0.25408005714416504 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "lift and transport pot", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 20 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 7, + "end": 20 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.4054570198059082, + 0.17108741402626038, + -0.03891519457101822, + -3.0840537548065186, + -0.1983386129140854, + 0.7488506436347961 + ], + "gripper_value": 0.529549777507782 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The robot has grasped the silver pot's handle and is currently lifting it from the stove. The gripper is closed and stable, indicating a secure hold. The next action is to transport the pot toward the lower left burner." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 4 cm, move up 5 cm, tilt back 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 13 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.4046873152256012, + 0.15872299671173096, + -0.009158656932413578, + -3.103079319000244, + -0.26004236936569214, + 0.7142994999885559 + ], + "gripper_value": 0.8371937274932861 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The silver pot is currently positioned over the lower left burner, with the gripper still holding it. The placement action is in progress but not yet finalized. The next step is to lower the pot onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 3 cm, move up 2 cm, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.40315309166908264, + 0.13953512907028198, + 0.012174719013273716, + -3.125243902206421, + -0.3038181662559509, + 0.6750628352165222 + ], + "gripper_value": 0.9994885921478271 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "oven door": [ + 184, + 621, + 540, + 993 + ], + "burner": [ + 527, + 408, + 727, + 619 + ] + } + } + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "place pot on burner", + "subtask_reasoning": "The silver pot is currently positioned over the lower left burner, with the gripper still holding it. The placement action is in progress but not yet finalized. The next step is to lower the pot onto the burner and release the grip." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 1 cm, keep gripper open; then move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 23 + }, + "cache_ref": { + "anchor_ref_reasoning": 22 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 21, + "end": 23 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.39326250553131104, + 0.12624090909957886, + 0.01358058862388134, + -3.1280903816223145, + -0.2800663113594055, + 0.6276808977127075 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned on the lower left burner, and the gripper is open and not in contact with the pot. The release action has been completed, and the robot is now retreating from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move right 2 cm, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 24, + "end": 25 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.3829838037490845, + 0.10977467149496078, + 0.012025726959109306, + -3.1246447563171387, + -0.249704971909523, + 0.5258905291557312 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Move the silver pot to the lower left burner." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach pot" + }, + { + "id": 2, + "subtask": "grasp pot handle" + }, + { + "id": 3, + "subtask": "lift and transport pot" + }, + { + "id": 4, + "subtask": "place pot on burner" + }, + { + "id": 5, + "subtask": "release and retreat" + } + ], + "subtask_name": "release and retreat", + "subtask_reasoning": "The silver pot is already positioned on the lower left burner, and the gripper is open and not in contact with the pot. The release action has been completed, and the robot is now retreating from the stove area." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 24, + "end": 25 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001061_ecot.json b/cot/chunk-0001/episode_0001061_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..7a6206ea749f4f83c61c2e637f5c0e4df2d0018f --- /dev/null +++ b/cot/chunk-0001/episode_0001061_ecot.json @@ -0,0 +1,2023 @@ +{ + "task_name": "episode_0001061", + "episode_json": "json/chunk-0001/episode_0001061.json", + "video_path": "videos/chunk-0001/image_0/episode_0001061.mp4", + "instruction": "Fold the cloth left to rigth.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 30, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001061.json" + }, + "fps": 5.0, + "T_eff": 30, + "gripper_behavior_summary": { + "available": true, + "range": 0.9474852681159973, + "std": 0.4241143763065338, + "delta_total": 0.005880832672119141, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.94749, std=0.42411, total_delta=0.00588). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 213, + 226, + 226, + 226, + 226 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 12 + ], + [ + 3, + 13, + 24 + ], + [ + 4, + 25, + 25 + ], + [ + 5, + 26, + 29 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach cloth left edge\", \"start\": 0, \"end\": 3, \"planning\": \"Move gripper toward the left side of the cloth without closing, preparing for contact.\"},\n {\"id\": 2, \"name\": \"grasp and drag left edge rightward\", \"start\": 4, \"end\": 12, \"planning\": \"Close gripper to grasp the left edge of the cloth and drag it horizontally toward the right to initiate folding.\"},\n {\"id\": 3, \"name\": \"reposition above fold line\", \"start\": 13, \"end\": 24, \"planning\": \"Lift and reposition gripper above the intended fold line while maintaining grip or preparing for next contact.\"},\n {\"id\": 4, \"name\": \"press down on folded cloth\", \"start\": 25, \"end\": 25, \"planning\": \"Briefly press down on the folded cloth with gripper to flatten or secure the fold without grasping.\"},\n {\"id\": 5, \"name\": \"release and retreat from cloth\", \"start\": 26, \"end\": 29, \"planning\": \"Open gripper to release contact and retreat upward and away from the folded cloth to complete the task.\"}\n ],\n \"global_plan\": \"Fold the cloth left to right by first approaching the left edge, grasping and dragging it rightward, repositioning above the fold, pressing down to secure, then releasing and retreating.\",\n \"notes\": \"Segment 1 has no gripper closure — described as approach. Segment 2 shows meaningful closing and motion consistent with grasp and drag. Segment 3 lacks explicit gripper data but is inferred as repositioning based on trajectory continuity. Segment 4 is a single-frame press with no closure — described as contact-based. Segment 5 shows gripper opening and retreat — described as release and retreat.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach cloth left edge", + "start": 0, + "end": 3, + "planning": "Move gripper toward the left side of the cloth without closing, preparing for contact." + }, + { + "id": 2, + "name": "grasp and drag left edge rightward", + "start": 4, + "end": 12, + "planning": "Close gripper to grasp the left edge of the cloth and drag it horizontally toward the right to initiate folding." + }, + { + "id": 3, + "name": "reposition above fold line", + "start": 13, + "end": 24, + "planning": "Lift and reposition gripper above the intended fold line while maintaining grip or preparing for next contact." + }, + { + "id": 4, + "name": "press down on folded cloth", + "start": 25, + "end": 25, + "planning": "Briefly press down on the folded cloth with gripper to flatten or secure the fold without grasping." + }, + { + "id": 5, + "name": "release and retreat from cloth", + "start": 26, + "end": 29, + "planning": "Open gripper to release contact and retreat upward and away from the folded cloth to complete the task." + } + ], + "global_plan": "Fold the cloth left to right by first approaching the left edge, grasping and dragging it rightward, repositioning above the fold, pressing down to secure, then releasing and retreating.", + "notes": "Segment 1 has no gripper closure — described as approach. Segment 2 shows meaningful closing and motion consistent with grasp and drag. Segment 3 lacks explicit gripper data but is inferred as repositioning based on trajectory continuity. Segment 4 is a single-frame press with no closure — described as contact-based. Segment 5 shows gripper opening and retreat — described as release and retreat." + } + }, + "episode_goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.28970059752464294, + 0.06562690436840057, + 0.057519979774951935, + 3.081528902053833, + -0.04181976988911629, + 0.016513463109731674 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, move down 1 cm, rotate clockwise 20 degrees, keep gripper open; then move back 9 cm, move left 4 cm, move down 4 cm, tilt left 10 degrees, tilt forward 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.2869550883769989, + 0.06492233276367188, + 0.05047427862882614, + 3.0759875774383545, + -0.018937190994620323, + 0.02454473450779915 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move left 7 cm, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move left 4 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2755375802516937, + 0.08436954766511917, + 0.04727540910243988, + 3.0819106101989746, + -0.03256843239068985, + 0.13205687701702118 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move left 6 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper open; then move back 8 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.25713351368904114, + 0.11173417419195175, + 0.05840751901268959, + 3.1136937141418457, + -0.08266931772232056, + 0.2123156636953354 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "approach cloth left edge", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 1 cm, keep gripper open; then move back 8 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2214721292257309, + 0.1397451013326645, + 0.05238937586545944, + -3.135442018508911, + -0.0942518413066864, + 0.29195913672447205 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange object": [ + 23, + 952, + 109, + 997 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 8 cm, move left 5 cm, move down 5 cm, tilt left 10 degrees, tilt forward 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.18547441065311432, + 0.1539786010980606, + 0.037952572107315063, + -3.1128129959106445, + -0.04845425486564636, + 0.34472450613975525 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move left 3 cm, move down 3 cm, close gripper; then move back 1 cm, move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.16123580932617188, + 0.1590779572725296, + 0.036737844347953796, + -3.056248903274536, + -0.053013406693935394, + 0.36748266220092773 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 3 cm, move down 3 cm, close gripper; then move back 1 cm, move right 1 cm, move up 3 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.14460022747516632, + 0.16011491417884827, + 0.03325976803898811, + -3.0147414207458496, + -0.03531355410814285, + 0.3804795742034912 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot is positioned above the green cloth with the gripper open, approaching the left edge. No contact or grasping has occurred yet. The next action is to move the gripper closer to the left edge of the cloth to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 3 cm, close gripper; then move forward 1 cm, move right 2 cm, move up 5 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.13791002333164215, + 0.1678633689880371, + 0.03127230331301689, + -2.996644973754883, + -0.034871142357587814, + 0.38837432861328125 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, close gripper; then move forward 3 cm, move right 4 cm, move up 6 cm, tilt left 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.1329386830329895, + 0.1709284782409668, + 0.021052150055766106, + -3.001300096511841, + -0.003620083210989833, + 0.3886409103870392 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 2 cm, move down 2 cm, close gripper; then move forward 6 cm, move right 7 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.13174639642238617, + 0.17735880613327026, + 0.009373718872666359, + -3.0153932571411133, + 0.00337642477825284, + 0.3890695869922638 + ], + "gripper_value": 1.0014774799346924 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 1 cm, move down 1 cm, keep gripper closed; then move forward 9 cm, move right 8 cm, move up 4 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.13721796870231628, + 0.18381613492965698, + 0.004675888456404209, + -3.0259220600128174, + 0.009333995170891285, + 0.36910775303840637 + ], + "gripper_value": 0.9515043497085571 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 12 cm, move right 9 cm, move up 3 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.14003726840019226, + 0.18603378534317017, + 0.002834597136825323, + -3.0329272747039795, + 0.009499767795205116, + 0.36050182580947876 + ], + "gripper_value": 0.7051732540130615 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "grasp and drag left edge rightward", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 13 cm, move right 9 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.14091534912586212, + 0.1867809146642685, + 0.002970516448840499, + -3.032494306564331, + 0.006269664037972689, + 0.3615435063838959 + ], + "gripper_value": 0.4411471486091614 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 9 cm, move up 2 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.1410015970468521, + 0.18753468990325928, + 0.004698317032307386, + -3.0124988555908203, + 0.002116490388289094, + 0.36574438214302063 + ], + "gripper_value": 0.23591680824756622 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 14 cm, move right 10 cm, move up 1 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.1357789933681488, + 0.18544508516788483, + 0.012451697140932083, + -2.9805660247802734, + -0.0019776001572608948, + 0.370714008808136 + ], + "gripper_value": 0.10355531424283981 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 10 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.1354951709508896, + 0.1799018681049347, + 0.032930586487054825, + -2.9401473999023438, + 0.00805891864001751, + 0.36329492926597595 + ], + "gripper_value": 0.0650232583284378 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 15 cm, move right 9 cm, move down 2 cm, tilt right 10 degrees, rotate counterclockwise 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.14959825575351715, + 0.16698764264583588, + 0.05450078472495079, + -2.908100128173828, + 0.023908883333206177, + 0.34619465470314026 + ], + "gripper_value": 0.06238236278295517 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot has approached the left edge of the green cloth and is now in contact with it. The gripper is open and positioned to grasp the cloth. The next action should be to close the gripper to secure the left edge before dragging it rightward." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 13 cm, move right 8 cm, move down 4 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 8 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.1714574545621872, + 0.14678455889225006, + 0.0589924082159996, + -2.9390928745269775, + 0.02484758011996746, + 0.338054895401001 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot is holding the left edge of the green cloth and has dragged it rightward; it is now positioned above the intended fold line. The next action is to lower the cloth onto the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 11 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 3 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.19809190928936005, + 0.12004344165325165, + 0.04643048718571663, + -2.987591505050659, + 0.04120233654975891, + 0.3279968202114105 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "orange object": [ + 20, + 953, + 108, + 997 + ], + "green cloth": [ + 82, + 294, + 684, + 995 + ], + "table": [ + 5, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot is holding the left edge of the green cloth and has dragged it rightward; it is now positioned above the intended fold line. The next action is to lower the cloth onto the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.22829227149486542, + 0.10626119375228882, + 0.038634154945611954, + -3.0385782718658447, + 0.035283297300338745, + 0.31331077218055725 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "green cloth": [ + 131, + 294, + 684, + 995 + ], + "orange object": [ + 21, + 952, + 109, + 997 + ], + "table": [ + 4, + 4, + 995, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot is holding the left edge of the green cloth and has dragged it rightward; it is now positioned above the intended fold line. The next action is to lower the cloth onto the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move right 2 cm, move down 3 cm, tilt right 10 degrees, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.2565261125564575, + 0.09942087531089783, + 0.029924798756837845, + -3.0831873416900635, + 0.008303891867399216, + 0.3003697097301483 + ], + "gripper_value": 0.062092870473861694 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot is holding the left edge of the green cloth and has dragged it rightward; it is now positioned above the intended fold line. The next action is to lower the cloth onto the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, move down 2 cm, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.26742789149284363, + 0.09568408131599426, + 0.024008475244045258, + -3.0977065563201904, + 0.0025086626410484314, + 0.2777382433414459 + ], + "gripper_value": 0.061804234981536865 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot is holding the left edge of the green cloth and has dragged it rightward; it is now positioned above the intended fold line. The next action is to lower the cloth onto the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, open gripper; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.27048495411872864, + 0.09329026192426682, + 0.020295029506087303, + -3.1095528602600098, + -0.0037974452134221792, + 0.27494266629219055 + ], + "gripper_value": 0.061804234981536865 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot is holding the left edge of the green cloth and has dragged it rightward; it is now positioned above the intended fold line. The next action is to lower the cloth onto the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move down 1 cm, keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.276802659034729, + 0.08872459828853607, + 0.01541783008724451, + -3.12675404548645, + -0.004071698524057865, + 0.2595243752002716 + ], + "gripper_value": 0.08747956901788712 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "reposition above fold line", + "subtask_reasoning": "The robot is holding the left edge of the green cloth and has dragged it rightward; it is now positioned above the intended fold line. The next action is to lower the cloth onto the right side to complete the fold." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 24 + }, + "cache_ref": { + "anchor_ref_reasoning": 18 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 24 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.28107061982154846, + 0.08601931482553482, + 0.011562550440430641, + 3.140734910964966, + -0.006177837029099464, + 0.25569266080856323 + ], + "gripper_value": 0.2486134171485901 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "press down on folded cloth", + "subtask_reasoning": "The green cloth has been folded left to right and lies flat on the table. The gripper is currently in contact with the top surface of the folded cloth, having just completed the pressing motion. Since segment-level gripper evidence shows no meaningful closing, the next action should be to release contact and retreat upward to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, keep gripper open; then move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 25 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 25, + "end": 25 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.2915278971195221, + 0.07873303443193436, + 0.014300702139735222, + 3.1275079250335693, + -0.013105669058859348, + 0.22052685916423798 + ], + "gripper_value": 0.5188266634941101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth has been folded left to right and lies flat on the table. The gripper is currently in contact with the top surface of the folded cloth, having just completed the pressing motion. Since segment-level gripper evidence shows no meaningful closing, the next action should be to release contact and retreat upward to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move right 4 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 25 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.3049878180027008, + 0.07068987935781479, + 0.02398747205734253, + 3.1166176795959473, + -0.02567480504512787, + 0.2073443979024887 + ], + "gripper_value": 0.8242669105529785 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth has been folded left to right and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.3214457035064697, + 0.0523265115916729, + 0.03359101340174675, + 3.0817112922668457, + -0.05911838263273239, + 0.20057843625545502 + ], + "gripper_value": 1.0092895030975342 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth has been folded left to right and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 1 cm, move up 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.33147597312927246, + 0.04188608005642891, + 0.041823700070381165, + 3.0963635444641113, + -0.07568084448575974, + 0.18512266874313354 + ], + "gripper_value": 1.0073583126068115 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Fold the green cloth from left to right by grasping the left edge and placing it over the right side." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach cloth left edge" + }, + { + "id": 2, + "subtask": "grasp and drag left edge rightward" + }, + { + "id": 3, + "subtask": "reposition above fold line" + }, + { + "id": 4, + "subtask": "press down on folded cloth" + }, + { + "id": 5, + "subtask": "release and retreat from cloth" + } + ], + "subtask_name": "release and retreat from cloth", + "subtask_reasoning": "The green cloth has been folded left to right and lies flat on the table. The gripper is open and positioned above the cloth, indicating release has occurred. The next action is to retreat upward and away from the cloth to complete the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 27 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 26, + "end": 29 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001062_ecot.json b/cot/chunk-0001/episode_0001062_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..e9341f9cb969de322bf296676d95e4dd9a418d6d --- /dev/null +++ b/cot/chunk-0001/episode_0001062_ecot.json @@ -0,0 +1,2526 @@ +{ + "task_name": "episode_0001062", + "episode_json": "json/chunk-0001/episode_0001062.json", + "video_path": "videos/chunk-0001/image_0/episode_0001062.mp4", + "instruction": "Put the yellow knife in the back.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 37, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001062.json" + }, + "fps": 5.0, + "T_eff": 37, + "gripper_behavior_summary": { + "available": true, + "range": 0.6662471890449524, + "std": 0.31741809844970703, + "delta_total": 0.0, + "close_evidence": true, + "summary_text": "Global gripper signal varies meaningfully (range=0.66625, std=0.31742, total_delta=0.00000). Grasping may be plausible only where segment-level and image evidence agree." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 100, + 100, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 213, + 213, + 213, + 213, + 213, + 213, + 213, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 13, + 30, + 30, + 30, + 30, + 30, + 30, + 30 + ], + "seg_spans": [ + [ + 1, + 0, + 5 + ], + [ + 2, + 6, + 12 + ], + [ + 3, + 13, + 19 + ], + [ + 4, + 20, + 29 + ], + [ + 5, + 30, + 36 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach knife\", \"start\": 0, \"end\": 5, \"planning\": \"Move the end-effector from its initial position toward the yellow knife on the table without closing the gripper.\"},\n {\"id\": 2, \"name\": \"grasp knife\", \"start\": 6, \"end\": 12, \"planning\": \"Close the gripper around the handle of the yellow knife to secure it for lifting.\"},\n {\"id\": 3, \"name\": \"lift and transport knife\", \"start\": 13, \"end\": 19, \"planning\": \"Lift the grasped knife and move it toward the back of the table near the can.\"},\n {\"id\": 4, \"name\": \"place knife at back\", \"start\": 20, \"end\": 29, \"planning\": \"Position the knife behind the can and release it by opening the gripper.\"},\n {\"id\": 5, \"name\": \"retreat after placement\", \"start\": 30, \"end\": 36, \"planning\": \"Move the end-effector away from the placed knife to complete the task.\"}\n ],\n \"global_plan\": \"Approach the yellow knife, grasp it securely, lift and carry it to the back of the table behind the can, place it there by releasing the gripper, then retreat to finish.\",\n \"notes\": \"Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful gripper closing consistent with grasping. Segments 3–5 reflect transport, placement, and retreat phases supported by motion and gripper state changes.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach knife", + "start": 0, + "end": 5, + "planning": "Move the end-effector from its initial position toward the yellow knife on the table without closing the gripper." + }, + { + "id": 2, + "name": "grasp knife", + "start": 6, + "end": 12, + "planning": "Close the gripper around the handle of the yellow knife to secure it for lifting." + }, + { + "id": 3, + "name": "lift and transport knife", + "start": 13, + "end": 19, + "planning": "Lift the grasped knife and move it toward the back of the table near the can." + }, + { + "id": 4, + "name": "place knife at back", + "start": 20, + "end": 29, + "planning": "Position the knife behind the can and release it by opening the gripper." + }, + { + "id": 5, + "name": "retreat after placement", + "start": 30, + "end": 36, + "planning": "Move the end-effector away from the placed knife to complete the task." + } + ], + "global_plan": "Approach the yellow knife, grasp it securely, lift and carry it to the back of the table behind the can, place it there by releasing the gripper, then retreat to finish.", + "notes": "Segment 1 shows no gripper closure — correctly labeled as approach. Segment 2 shows meaningful gripper closing consistent with grasping. Segments 3–5 reflect transport, placement, and retreat phases supported by motion and gripper state changes." + } + }, + "episode_goal": "Place the yellow knife behind the can.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.2990201413631439, + 0.09479889273643494, + 0.14034129679203033, + 2.958359718322754, + -0.25312289595603943, + 1.291135549545288 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move down 6 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 1 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.29658910632133484, + 0.09362401068210602, + 0.1312672197818756, + 2.9864501953125, + -0.23968613147735596, + 1.2832127809524536 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. No movement or grasping has occurred yet as the gripper remains open and stationary. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 7 cm, move right 11 cm, move down 5 cm, tilt forward 10 degrees, rotate counterclockwise 30 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 0 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.2802683115005493, + 0.07273934036493301, + 0.1236698180437088, + 3.0286788940429688, + -0.25195640325546265, + 1.2143000364303589 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 5 cm, move right 9 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 6 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.2620885670185089, + 0.05358101427555084, + 0.12222239375114441, + 3.0466830730438232, + -0.299172967672348, + 1.1594456434249878 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 4 cm, move right 7 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.2448318898677826, + 0.03666136413812637, + 0.11723651736974716, + 3.000866651535034, + -0.26399844884872437, + 1.1349310874938965 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move right 5 cm, move down 4 cm, tilt forward 10 degrees, rotate counterclockwise 20 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.23045875132083893, + 0.010125899687409401, + 0.09876485913991928, + 3.05733060836792, + -0.22808432579040527, + 0.9642108082771301 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "approach knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 2 cm, move down 2 cm, rotate counterclockwise 10 degrees, keep gripper open; then move forward 3 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move left 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 5 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 5 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.22569771111011505, + -0.01387103833258152, + 0.07936960458755493, + 3.083204507827759, + -0.16673849523067474, + 0.8158566951751709 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 5 cm, move down 5 cm, tilt right 10 degrees, tilt forward 10 degrees, rotate counterclockwise 10 degrees, close gripper; then move up 1 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.2301478385925293, + -0.033534936606884, + 0.0565016008913517, + 3.0351192951202393, + -0.06877467036247253, + 0.7515177130699158 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "metal strainer": [ + 131, + 299, + 363, + 598 + ], + "blue seat": [ + 3, + 694, + 370, + 996 + ], + "wooden table": [ + 3, + 133, + 996, + 995 + ], + "wooden wall": [ + 467, + 2, + 997, + 362 + ], + "banana": [ + 203, + 375, + 343, + 496 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 3 cm, move right 3 cm, move down 3 cm, tilt right 10 degrees, close gripper; then move back 1 cm, move up 5 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.23305366933345795, + -0.04977208003401756, + 0.03914828598499298, + 3.0002543926239014, + -0.0018625931115821004, + 0.7123004794120789 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot is positioned above the table with the yellow knife visible in front of the can. The gripper is open and no contact has been made yet. The next action should be to move the end-effector closer to the knife to prepare for grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 2 cm, move down 1 cm, close gripper; then move right 1 cm, move up 8 cm, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 2 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.23789756000041962, + -0.06171800196170807, + 0.030447719618678093, + 2.9549717903137207, + 0.018904920667409897, + 0.7007782459259033 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the yellow knife and is now positioned directly above it with the gripper open. The current subtask is to grasp the knife, which involves closing the gripper around the handle. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 1 cm, close gripper; then move forward 2 cm, move right 1 cm, move up 11 cm, tilt right 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.24069395661354065, + -0.06675644963979721, + 0.030840883031487465, + 2.9412174224853516, + -0.0045361267402768135, + 0.6843662261962891 + ], + "gripper_value": 0.9988223910331726 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the yellow knife and is now positioned directly above it with the gripper open. The current subtask is to grasp the knife, which involves closing the gripper around the handle. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, keep gripper closed; then move forward 6 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.2467513531446457, + -0.0704142227768898, + 0.029794951900839806, + 2.930084228515625, + -0.019227365031838417, + 0.6742850542068481 + ], + "gripper_value": 0.9492040276527405 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the yellow knife and is now positioned directly above it with the gripper open. The current subtask is to grasp the knife, which involves closing the gripper around the handle. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, keep gripper closed; then move forward 6 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 4 cm, move left 4 cm, rotate clockwise 10 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.253228098154068, + -0.0696546882390976, + 0.0273375753313303, + 2.9382693767547607, + -0.0446796678006649, + 0.6738596558570862 + ], + "gripper_value": 0.6651484370231628 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "grasp knife", + "subtask_reasoning": "The robot has approached the yellow knife and is now positioned directly above it with the gripper open. The current subtask is to grasp the knife, which involves closing the gripper around the handle. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper closed; then move forward 6 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 7 cm, move left 7 cm, move down 1 cm, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 12 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 6, + "end": 12 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.25693053007125854, + -0.06761691719293594, + 0.02715257741510868, + 2.9498531818389893, + -0.06368458271026611, + 0.6634703278541565 + ], + "gripper_value": 0.37802740931510925 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has approached the yellow knife and is now positioned directly above it with the gripper open. The current subtask is to grasp the knife, which involves closing the gripper around the handle. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 2 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 9 cm, move left 10 cm, move down 2 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.25809624791145325, + -0.06564100086688995, + 0.026958731934428215, + 2.96464204788208, + -0.06892181932926178, + 0.6525123715400696 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has approached the yellow knife and is now positioned directly above it with the gripper open. The current subtask is to grasp the knife, which involves closing the gripper around the handle. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 11 cm, move left 12 cm, move down 4 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.25721603631973267, + -0.06253763288259506, + 0.027361078187823296, + 2.9776885509490967, + -0.06229618564248085, + 0.6421259045600891 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has approached the yellow knife and is now positioned directly above it with the gripper open. The current subtask is to grasp the knife, which involves closing the gripper around the handle. The next action is to close the gripper to secure the knife." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 12 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 14 cm, move down 6 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 9 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.25241440534591675, + -0.06380783021450043, + 0.0421370305120945, + 3.021960735321045, + -0.027924276888370514, + 0.5844919681549072 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 1 cm, move up 11 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 12 cm, move left 15 cm, move down 8 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 20 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.25063300132751465, + -0.0720059797167778, + 0.08169189840555191, + 2.9587435722351074, + -0.07756059616804123, + 0.5784657001495361 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "banana": [ + 203, + 374, + 344, + 496 + ], + "blue seat": [ + 2, + 695, + 372, + 996 + ], + "wooden table": [ + 4, + 135, + 996, + 995 + ], + "metal strainer": [ + 131, + 299, + 363, + 599 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 7 cm, move left 2 cm, move up 7 cm, tilt right 10 degrees, rotate clockwise 20 degrees, keep gripper closed; then move forward 12 cm, move left 16 cm, move down 10 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.2563517987728119, + -0.07984524220228195, + 0.11166033893823624, + 2.873908758163452, + -0.09580335021018982, + 0.6078526377677917 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 6 cm, move left 3 cm, move up 4 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 17 cm, move down 10 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, keep gripper closed", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.28175997734069824, + -0.07304038852453232, + 0.14001646637916565, + 2.786249876022339, + -0.12694686651229858, + 0.7100620269775391 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "lift and transport knife", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 4 cm, move left 2 cm, move up 1 cm, rotate clockwise 10 degrees, keep gripper closed; then move forward 12 cm, move left 17 cm, move down 11 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 13, + "end": 19 + } + }, + { + "t": 20, + "state_action_evidence": { + "ee_state_6d": [ + 0.31724560260772705, + -0.05127924680709839, + 0.15088430047035217, + 2.7421555519104004, + -0.10418500006198883, + 0.8783692121505737 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 12 cm, move left 17 cm, move down 11 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 30 degrees, open gripper", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 21, + "state_action_evidence": { + "ee_state_6d": [ + 0.3540865480899811, + -0.012115046381950378, + 0.1543508917093277, + 2.730708599090576, + -0.07656978815793991, + 1.0698763132095337 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "soup": [ + 426, + 235, + 609, + 555 + ], + "banana": [ + 202, + 374, + 344, + 496 + ], + "metal strainer": [ + 132, + 299, + 363, + 598 + ], + "wooden wall": [ + 306, + 1, + 997, + 362 + ], + "wooden table": [ + 4, + 135, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 8 cm, move left 13 cm, move down 12 cm, tilt left 20 degrees, tilt back 20 degrees, rotate clockwise 20 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 22, + "state_action_evidence": { + "ee_state_6d": [ + 0.38650235533714294, + 0.014058396220207214, + 0.14452001452445984, + 2.7724125385284424, + -0.08561167865991592, + 1.178442120552063 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 5 cm, move left 10 cm, move down 11 cm, tilt left 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 23, + "state_action_evidence": { + "ee_state_6d": [ + 0.41121578216552734, + 0.04812253266572952, + 0.12846030294895172, + 2.826939105987549, + -0.1049797460436821, + 1.2670406103134155 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot has successfully grasped the yellow knife and is currently lifting it from the table surface. The gripper is closed around the handle, and the arm is in motion to transport the knife toward the target location behind the can. The next action is to continue moving the knife to the designated spot behind the can." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move left 7 cm, move down 9 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 16 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 24, + "state_action_evidence": { + "ee_state_6d": [ + 0.42667844891548157, + 0.06596991419792175, + 0.11099541187286377, + 2.871802568435669, + -0.12343268096446991, + 1.3053169250488281 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 5 cm, move down 7 cm, tilt left 10 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 3 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 25, + "state_action_evidence": { + "ee_state_6d": [ + 0.43428319692611694, + 0.08591514080762863, + 0.09282562136650085, + 2.9197983741760254, + -0.15916457772254944, + 1.3468389511108398 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 3 cm, move down 6 cm, tilt left 10 degrees, rotate clockwise 10 degrees, open gripper; then move back 1 cm, move left 1 cm, move up 6 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 26, + "state_action_evidence": { + "ee_state_6d": [ + 0.43538206815719604, + 0.10092151910066605, + 0.07118067890405655, + 2.9629669189453125, + -0.17155848443508148, + 1.3803253173828125 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, rotate clockwise 10 degrees, open gripper; then move back 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 27, + "state_action_evidence": { + "ee_state_6d": [ + 0.43596985936164856, + 0.11126942932605743, + 0.05587692931294441, + 2.991818428039551, + -0.1880303919315338, + 1.4030823707580566 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "soup": [ + 426, + 236, + 609, + 555 + ], + "banana": [ + 201, + 372, + 343, + 497 + ], + "metal strainer": [ + 131, + 299, + 362, + 598 + ], + "wooden table": [ + 3, + 137, + 996, + 995 + ] + } + } + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 1 cm, move down 2 cm, open gripper; then move back 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 28, + "state_action_evidence": { + "ee_state_6d": [ + 0.43699902296066284, + 0.11520437151193619, + 0.04663977399468422, + 3.0178325176239014, + -0.2010655552148819, + 1.4086443185806274 + ], + "gripper_value": 0.3372049927711487 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move down 1 cm, keep gripper open; then move back 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 29, + "state_action_evidence": { + "ee_state_6d": [ + 0.43661949038505554, + 0.11556883901357651, + 0.04193497076630592, + 3.026660203933716, + -0.1985418200492859, + 1.4180278778076172 + ], + "gripper_value": 0.4050447642803192 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "place knife at back", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open; then move back 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 29 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 4, + "start": 20, + "end": 29 + } + }, + { + "t": 30, + "state_action_evidence": { + "ee_state_6d": [ + 0.4323587715625763, + 0.11796094477176666, + 0.037442851811647415, + 3.029975414276123, + -0.2058010697364807, + 1.491290807723999 + ], + "gripper_value": 0.7081608176231384 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 1 cm, move up 8 cm, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 31, + "state_action_evidence": { + "ee_state_6d": [ + 0.42329904437065125, + 0.12384580820798874, + 0.035816490650177, + 3.050055503845215, + -0.24473312497138977, + 1.557397484779358 + ], + "gripper_value": 0.9701826572418213 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 32, + "state_action_evidence": { + "ee_state_6d": [ + 0.42172273993492126, + 0.12427112460136414, + 0.036780860275030136, + 3.072544574737549, + -0.24933333694934845, + 1.5175721645355225 + ], + "gripper_value": 1.003452181816101 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The robot is holding the yellow knife above the table, positioned near the can. The knife has been successfully grasped and lifted. The next action is to move the knife behind the can and release it to complete the placement." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 24 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 33, + "state_action_evidence": { + "ee_state_6d": [ + 0.41744014620780945, + 0.12386323511600494, + 0.0377378836274147, + 3.108983278274536, + -0.24468404054641724, + 1.4925518035888672 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The yellow knife has been successfully placed behind the can on the table. The gripper is open and the robot is in a stable position, indicating the placement is complete. The next action is to retreat slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 34, + "state_action_evidence": { + "ee_state_6d": [ + 0.42031624913215637, + 0.1246107965707779, + 0.06978235393762589, + 3.0533454418182373, + -0.26189443469047546, + 1.5013244152069092 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The yellow knife has been successfully placed behind the can on the table. The gripper is open and the robot is in a stable position, indicating the placement is complete. The next action is to retreat slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 5 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 35, + "state_action_evidence": { + "ee_state_6d": [ + 0.4199245572090149, + 0.1279451847076416, + 0.09947215020656586, + 2.9911305904388428, + -0.3074641525745392, + 1.5106093883514404 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The yellow knife has been successfully placed behind the can on the table. The gripper is open and the robot is in a stable position, indicating the placement is complete. The next action is to retreat slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 1 cm, move up 2 cm, keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + }, + { + "t": 36, + "state_action_evidence": { + "ee_state_6d": [ + 0.40897589921951294, + 0.12712259590625763, + 0.11524698138237, + 2.958407163619995, + -0.32113176584243774, + 1.5223749876022339 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Place the yellow knife behind the can." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach knife" + }, + { + "id": 2, + "subtask": "grasp knife" + }, + { + "id": 3, + "subtask": "lift and transport knife" + }, + { + "id": 4, + "subtask": "place knife at back" + }, + { + "id": 5, + "subtask": "retreat after placement" + } + ], + "subtask_name": "retreat after placement", + "subtask_reasoning": "The yellow knife has been successfully placed behind the can on the table. The gripper is open and the robot is in a stable position, indicating the placement is complete. The next action is to retreat slightly to finalize the subtask." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 36 + }, + "cache_ref": { + "anchor_ref_reasoning": 33 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 5, + "start": 30, + "end": 36 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +} diff --git a/cot/chunk-0001/episode_0001065_ecot.json b/cot/chunk-0001/episode_0001065_ecot.json new file mode 100644 index 0000000000000000000000000000000000000000..1a206f6edae26badf6b63bd9665a9b56664855f9 --- /dev/null +++ b/cot/chunk-0001/episode_0001065_ecot.json @@ -0,0 +1,1234 @@ +{ + "task_name": "episode_0001065", + "episode_json": "json/chunk-0001/episode_0001065.json", + "video_path": "videos/chunk-0001/image_0/episode_0001065.mp4", + "instruction": "Open book.", + "meta": { + "dataset_field": "oxe-bridge_orig", + "trajectory_type": "success", + "time": "2025-11-17", + "num_frames_declared": 20, + "extra_info": null, + "episode_json_path": "json/chunk-0001/episode_0001065.json" + }, + "fps": 5.0, + "T_eff": 20, + "gripper_behavior_summary": { + "available": true, + "range": 0.0006629228591918945, + "std": 0.0001444807421648875, + "delta_total": 0.0, + "close_evidence": false, + "summary_text": "Global gripper signal is nearly constant (range=0.00066, std=0.00014, total_delta=0.00000). Do NOT infer grasp / lift / place unless the segment-level evidence strongly supports it." + }, + "segmentation": { + "mode": "soft+gripper", + "nstep": 5, + "overall_segment": [ + 100, + 100, + 100, + 100, + 0, + 0, + 0, + 0, + 0, + 0, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200, + 200 + ], + "seg_spans": [ + [ + 1, + 0, + 3 + ], + [ + 2, + 4, + 9 + ], + [ + 3, + 10, + 19 + ] + ] + }, + "planning": { + "planner_model": "qwen-35", + "plan_raw": "{\n \"subtasks\": [\n {\"id\": 1, \"name\": \"approach book\", \"start\": 0, \"end\": 3, \"planning\": \"Move the end-effector toward the closed book on the counter to prepare for opening.\"},\n {\"id\": 2, \"name\": \"contact and slide cover\", \"start\": 4, \"end\": 9, \"planning\": \"Make contact with the book cover and slide it laterally to begin opening the book.\"},\n {\"id\": 3, \"name\": \"reposition and finalize open\", \"start\": 10, \"end\": 19, \"planning\": \"Adjust position and apply final motion to fully open the book, as seen in the last frame.\"}\n ],\n \"global_plan\": \"Open the book by approaching, sliding the cover open via contact, and repositioning to complete the opening motion.\",\n \"notes\": \"Gripper remains fully open throughout; no grasping occurs. All actions are contact-based pushes/slides consistent with gripper evidence and visual progression from closed to open book.\"\n}", + "plan_obj": { + "subtasks": [ + { + "id": 1, + "name": "approach book", + "start": 0, + "end": 3, + "planning": "Move the end-effector toward the closed book on the counter to prepare for opening." + }, + { + "id": 2, + "name": "contact and slide cover", + "start": 4, + "end": 9, + "planning": "Make contact with the book cover and slide it laterally to begin opening the book." + }, + { + "id": 3, + "name": "reposition and finalize open", + "start": 10, + "end": 19, + "planning": "Adjust position and apply final motion to fully open the book, as seen in the last frame." + } + ], + "global_plan": "Open the book by approaching, sliding the cover open via contact, and repositioning to complete the opening motion.", + "notes": "Gripper remains fully open throughout; no grasping occurs. All actions are contact-based pushes/slides consistent with gripper evidence and visual progression from closed to open book." + } + }, + "episode_goal": "Open the book.", + "frames": [ + { + "t": 0, + "state_action_evidence": { + "ee_state_6d": [ + 0.38814881443977356, + -0.17921139299869537, + 0.12355977296829224, + 3.0667240619659424, + 0.10819999873638153, + 0.019010785967111588 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "approach book", + "subtask_reasoning": "The robot is positioned near the countertop with the book visible on the left side. No contact or manipulation has occurred yet. The next action should be to move the end effector closer to the book to prepare for sliding the cover open." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 15 cm, move up 2 cm, tilt left 10 degrees, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 22 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 1, + "state_action_evidence": { + "ee_state_6d": [ + 0.3846217691898346, + -0.17208410799503326, + 0.1008402481675148, + 3.0936923027038574, + 0.16822080314159393, + 0.0030883224681019783 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "approach book", + "subtask_reasoning": "The robot is positioned near the countertop with the book visible on the left side. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should involve moving the end-effector closer to the book to initiate the opening process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 14 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 22 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 1 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 2, + "state_action_evidence": { + "ee_state_6d": [ + 0.39203426241874695, + -0.12506629526615143, + 0.10271428525447845, + 3.105522394180298, + 0.15715670585632324, + -0.06509067118167877 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "approach book", + "subtask_reasoning": "The robot is positioned near the countertop with the book visible on the left side. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should involve moving the end-effector closer to the book to initiate the opening process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move left 9 cm, move up 4 cm, rotate counterclockwise 10 degrees, keep gripper open; then move back 3 cm, move left 22 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 1 cm, move right 3 cm, move up 1 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 3, + "state_action_evidence": { + "ee_state_6d": [ + 0.3967212736606598, + -0.07014264911413193, + 0.13673803210258484, + 3.118041515350342, + 0.07503310590982437, + -0.10966949164867401 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "shoes": [ + 35, + 693, + 289, + 928 + ], + "sushi": [ + 750, + 318, + 867, + 459 + ], + "cabbage": [ + 842, + 269, + 980, + 443 + ], + "garlic": [ + 716, + 231, + 817, + 335 + ] + } + } + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "approach book", + "subtask_reasoning": "The robot is positioned near the countertop with the book visible on the left side. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should involve moving the end-effector closer to the book to initiate the opening process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 4 cm, keep gripper open; then move back 3 cm, move left 22 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 6 cm, move up 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 3 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 1, + "start": 0, + "end": 3 + } + }, + { + "t": 4, + "state_action_evidence": { + "ee_state_6d": [ + 0.39872047305107117, + -0.031025419011712074, + 0.1405857801437378, + -3.140519618988037, + 0.0818130150437355, + -0.1808881014585495 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "contact and slide cover", + "subtask_reasoning": "The robot is positioned near the countertop with the book visible on the left side. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should involve moving the end-effector closer to the book to initiate the opening process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 22 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, move down 1 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 5, + "state_action_evidence": { + "ee_state_6d": [ + 0.3974476158618927, + 0.027186473831534386, + 0.14543424546718597, + -3.127692699432373, + 0.098140649497509, + -0.1852758824825287 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "contact and slide cover", + "subtask_reasoning": "The robot is positioned near the countertop with the book visible on the left side. No contact or grasping has occurred yet, as the gripper remains fully open and stationary. The next action should involve moving the end-effector closer to the book to initiate the opening process." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 16 cm, move down 8 cm, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 7 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 1 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 6, + "state_action_evidence": { + "ee_state_6d": [ + 0.39465880393981934, + 0.07178604602813721, + 0.13462023437023163, + -3.0819857120513916, + 0.10032014548778534, + -0.207574263215065 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "contact and slide cover", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 3 cm, move left 11 cm, move down 7 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 8 cm, tilt right 10 degrees, tilt back 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 7, + "state_action_evidence": { + "ee_state_6d": [ + 0.3892602026462555, + 0.11508635431528091, + 0.11409320682287216, + -3.046119451522827, + 0.12340462952852249, + -0.21382932364940643 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "contact and slide cover", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move back 2 cm, move left 7 cm, move down 5 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 9 cm, move up 3 cm, tilt right 20 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 8, + "state_action_evidence": { + "ee_state_6d": [ + 0.37228304147720337, + 0.1686849296092987, + 0.08610222488641739, + -3.0641775131225586, + 0.12928494811058044, + -0.1565149575471878 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "contact and slide cover", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move left 2 cm, move down 3 cm, tilt right 10 degrees, rotate clockwise 10 degrees, keep gripper open; then move forward 2 cm, move right 13 cm, move up 7 cm, tilt right 30 degrees, tilt back 10 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 9, + "state_action_evidence": { + "ee_state_6d": [ + 0.3653281629085541, + 0.19309058785438538, + 0.06577608734369278, + -3.1009809970855713, + 0.10996539890766144, + -0.09694807976484299 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "contact and slide cover", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 1 cm, keep gripper open; then move forward 2 cm, move right 18 cm, move up 11 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 9 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 2, + "start": 4, + "end": 9 + } + }, + { + "t": 10, + "state_action_evidence": { + "ee_state_6d": [ + 0.36859479546546936, + 0.18418368697166443, + 0.06105995550751686, + 3.107086181640625, + 0.10922842472791672, + -0.06667418777942657 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 2 cm, move right 18 cm, move up 11 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 11, + "state_action_evidence": { + "ee_state_6d": [ + 0.378409743309021, + 0.17004412412643433, + 0.07460347563028336, + 3.0075392723083496, + 0.06202230975031853, + -0.05139536410570145 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 17 cm, move up 10 cm, tilt right 30 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 12, + "state_action_evidence": { + "ee_state_6d": [ + 0.3803078234195709, + 0.1499713510274887, + 0.06951908767223358, + 2.932772636413574, + 0.04496471956372261, + -0.048743441700935364 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move forward 1 cm, move right 15 cm, move up 10 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 13, + "state_action_evidence": { + "ee_state_6d": [ + 0.3867422640323639, + 0.12110471725463867, + 0.06895317882299423, + 2.933011054992676, + -0.023799294605851173, + -0.07100822776556015 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The robot's end-effector is positioned near the book cover, having completed the approach phase. The gripper remains open with no closing evidence, indicating contact-based interaction rather than grasping. The next action is to slide the cover open by maintaining contact and applying lateral motion." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 12 cm, move up 10 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 6 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 14, + "state_action_evidence": { + "ee_state_6d": [ + 0.3885255753993988, + 0.11624916642904282, + 0.05408407002687454, + 2.951340675354004, + -0.053235623985528946, + -0.05578642338514328 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The book is already open on the table, and the gripper is positioned near the right page. The previous sliding action has successfully opened the cover. The robot should now make light contact with the page to stabilize or finalize the open position without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 11 cm, move up 12 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": null + }, + "is_anchor_frame": true, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 15, + "state_action_evidence": { + "ee_state_6d": [ + 0.38928455114364624, + 0.1093975231051445, + 0.05874030292034149, + 2.911858081817627, + -0.07934469729661942, + -0.028733154758810997 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The book is already open on the table, and the gripper is positioned near the right page. The previous sliding action has successfully opened the cover. The robot should now make light contact with the page to stabilize or finalize the open position without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 11 cm, tilt right 20 degrees, rotate clockwise 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 16, + "state_action_evidence": { + "ee_state_6d": [ + 0.3900195360183716, + 0.10446576774120331, + 0.06599367409944534, + 2.8839800357818604, + -0.059441618621349335, + 0.009353182278573513 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The book is already open on the table, and the gripper is positioned near the right page. The previous sliding action has successfully opened the cover. The robot should now make light contact with the page to stabilize or finalize the open position without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 10 cm, move up 11 cm, tilt right 20 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 17, + "state_action_evidence": { + "ee_state_6d": [ + 0.3902270197868347, + 0.09125833958387375, + 0.09096649289131165, + 2.8017613887786865, + -0.05718538537621498, + 0.04187380149960518 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The book is already open on the table, and the gripper is positioned near the right page. The previous sliding action has successfully opened the cover. The robot should now make light contact with the page to stabilize or finalize the open position without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 9 cm, move up 8 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 18, + "state_action_evidence": { + "ee_state_6d": [ + 0.3929140567779541, + 0.05843748524785042, + 0.13487516343593597, + 2.6558728218078613, + -0.02125486359000206, + 0.08753474056720734 + ], + "gripper_value": 1.0008161067962646 + }, + "Grounding": { + "visible_objects": {} + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The book is already open on the table, and the gripper is positioned near the right page. The previous sliding action has successfully opened the cover. The robot should now make light contact with the page to stabilize or finalize the open position without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "move right 5 cm, move up 4 cm, tilt right 10 degrees, keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + }, + { + "t": 19, + "state_action_evidence": { + "ee_state_6d": [ + 0.3904512822628021, + 0.00441968347877264, + 0.1729690134525299, + 2.5416879653930664, + 0.026627082377672195, + 0.06901972740888596 + ], + "gripper_value": 1.0001531839370728 + }, + "Grounding": { + "visible_objects": { + "cam0": { + "red pepper": [ + 592, + 257, + 758, + 376 + ], + "shoes": [ + 36, + 698, + 289, + 928 + ], + "garlic": [ + 725, + 232, + 817, + 334 + ], + "sushi": [ + 750, + 320, + 866, + 459 + ], + "cabbage": [ + 842, + 271, + 980, + 442 + ], + "grater": [ + 291, + 34, + 585, + 570 + ] + } + } + }, + "Understanding": { + "goal": "Open the book." + }, + "Planning": { + "plan": [ + { + "id": 1, + "subtask": "approach book" + }, + { + "id": 2, + "subtask": "contact and slide cover" + }, + { + "id": 3, + "subtask": "reposition and finalize open" + } + ], + "subtask_name": "reposition and finalize open", + "subtask_reasoning": "The book is already open on the table, and the gripper is positioned near the right page. The previous sliding action has successfully opened the cover. The robot should now make light contact with the page to stabilize or finalize the open position without grasping." + }, + "Acting": { + "gripper_pose": {}, + "movement_description": "keep gripper open", + "waypoint_px": {}, + "subtask_end": 19 + }, + "cache_ref": { + "anchor_ref_reasoning": 14 + }, + "is_anchor_frame": false, + "subtask_span": { + "id": 3, + "start": 10, + "end": 19 + } + } + ], + "movement_annotation_meta": { + "method": "lap_per_frame_cross_boundary_split_concat", + "chunk_size": 10, + "dataset": "bridge", + "gripper_convention": "actions.left_gripper_pos_direct: 1=open, 0=close", + "boundary_rule": "If a chunk crosses COT subtask boundary, summarize each segment piece separately and concatenate with '; then ' while preserving total chunk size." + } +}